package com.mes.task.service;

import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper;
import com.baomidou.mybatisplus.core.toolkit.Wrappers;
import com.fasterxml.jackson.core.JsonProcessingException;
import com.fasterxml.jackson.core.type.TypeReference;
import com.fasterxml.jackson.databind.ObjectMapper;
import com.mes.device.entity.DeviceConfig;
import com.mes.device.entity.DeviceGroupConfig;
import com.mes.device.service.DeviceCoordinationService;
import com.mes.device.service.DeviceInteractionService;
import com.mes.device.service.GlassInfoService;
import com.mes.device.vo.DevicePlcVO;
import com.mes.interaction.DeviceInteraction;
import com.mes.interaction.DeviceInteractionRegistry;
import com.mes.interaction.DeviceLogicHandler;
import com.mes.interaction.DeviceLogicHandlerFactory;
import com.mes.interaction.base.InteractionContext;
import com.mes.interaction.base.InteractionResult;
import com.mes.task.dto.TaskParameters;
import com.mes.task.entity.MultiDeviceTask;
import com.mes.task.entity.TaskStepDetail;
import com.mes.task.mapper.MultiDeviceTaskMapper;
import com.mes.task.mapper.TaskStepDetailMapper;
import com.mes.task.model.RetryPolicy;
import com.mes.task.model.TaskExecutionContext;
import com.mes.task.model.TaskExecutionResult;
import lombok.RequiredArgsConstructor;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Qualifier;
import org.springframework.stereotype.Component;
import org.springframework.util.CollectionUtils;
import org.springframework.util.StringUtils;

import java.util.*;
import java.util.concurrent.*;
import java.util.concurrent.atomic.AtomicInteger;

/**
 * 多设备任务执行引擎
 * 支持串行和并行两种执行模式
 */
@Slf4j
@Component
@RequiredArgsConstructor
public class TaskExecutionEngine {

    private static final Map<String, String> DEFAULT_OPERATIONS = new HashMap<>();
    private static final TypeReference<Map<String, Object>> MAP_TYPE = new TypeReference<Map<String, Object>>() {};
    private static final int SCANNER_LOOKBACK_MINUTES = 2;
    private static final int SCANNER_LOOKBACK_LIMIT = 20;

    // 执行模式常量
    private static final String EXECUTION_MODE_SERIAL = "SERIAL";
    private static final String EXECUTION_MODE_PARALLEL = "PARALLEL";

    static {
        DEFAULT_OPERATIONS.put(DeviceConfig.DeviceType.LOAD_VEHICLE, "feedGlass");
        DEFAULT_OPERATIONS.put(DeviceConfig.DeviceType.LARGE_GLASS, "processGlass");
        DEFAULT_OPERATIONS.put(DeviceConfig.DeviceType.WORKSTATION_SCANNER, "scanOnce");
        DEFAULT_OPERATIONS.put(DeviceConfig.DeviceType.WORKSTATION_TRANSFER, "checkAndProcess");
    }

    private final TaskStepDetailMapper taskStepDetailMapper;
    private final MultiDeviceTaskMapper multiDeviceTaskMapper;
    private final DeviceInteractionService deviceInteractionService;
    private final DeviceInteractionRegistry interactionRegistry;
    private final DeviceLogicHandlerFactory handlerFactory;
    private final DeviceCoordinationService deviceCoordinationService;
    private final TaskStatusNotificationService notificationService;
    private final ObjectMapper objectMapper;
    @Qualifier("deviceGlassInfoService")
    private final GlassInfoService glassInfoService;

    // 线程池用于并行执行
    private final ExecutorService executorService = Executors.newCachedThreadPool(r -> {
        Thread t = new Thread(r, "TaskExecutionEngine-Parallel");
        t.setDaemon(true);
        return t;
    });
    
    // 定时器线程池：用于设备定时扫描
    private final ScheduledExecutorService scheduledExecutor = Executors.newScheduledThreadPool(10, r -> {
        Thread t = new Thread(r, "TaskExecutionEngine-Scheduled");
        t.setDaemon(true);
        return t;
    });
    
    // 存储每个任务的定时器任务：taskId -> List<ScheduledFuture>
    private final Map<String, List<ScheduledFuture<?>>> taskScheduledTasks = new ConcurrentHashMap<>();
    // 记录正在运行任务的上下文，便于取消任务时访问
    private final Map<String, TaskExecutionContext> runningTaskContexts = new ConcurrentHashMap<>();

    public TaskExecutionResult execute(MultiDeviceTask task,
                                       DeviceGroupConfig groupConfig,
                                       List<DeviceConfig> devices,
                                       TaskParameters parameters) {

        if (CollectionUtils.isEmpty(devices)) {
            return TaskExecutionResult.failure("设备组未配置设备，无法执行任务", Collections.emptyMap());
        }

        TaskExecutionContext context = new TaskExecutionContext(parameters);
        runningTaskContexts.put(task.getTaskId(), context);
        // 将本次任务涉及的设备列表存入上下文，便于取消任务时做设备级收尾（如停止大车内部监控定时器）
        context.getSharedData().put("devices", devices);
        
        task.setTotalSteps(devices.size());
        task.setStatus(MultiDeviceTask.Status.RUNNING.name());
        multiDeviceTaskMapper.updateById(task);
        
        // 通知任务开始执行
        notificationService.notifyTaskStatus(task);
        
        // 确定执行模式
        String executionMode = determineExecutionMode(groupConfig);
        Integer maxConcurrent = getMaxConcurrentDevices(groupConfig);

        log.info("任务执行模式: {}, 最大并发数: {}, 设备数: {}", executionMode, maxConcurrent, devices.size());

        List<Map<String, Object>> stepSummaries;
        boolean success;
        String failureMessage;

        if (EXECUTION_MODE_PARALLEL.equals(executionMode)) {
            // 并行执行模式
            stepSummaries = new ArrayList<>(Collections.nCopies(devices.size(), null));
            Pair<Boolean, String> result = executeParallel(task, devices, context, stepSummaries, maxConcurrent);
            success = result.getFirst();
            failureMessage = result.getSecond();
        } else {
            // 串行执行模式（默认）
            stepSummaries = new ArrayList<>();
            success = true;
            failureMessage = null;

            TaskParameters params = context.getParameters();
            boolean hasGlassIds = !CollectionUtils.isEmpty(params.getGlassIds());
            boolean triggerFirst = Boolean.TRUE.equals(params.getTriggerRequestFirst());

            int currentOrder = 1;
            // 统计大车设备数量，用于区分进片大车和出片大车
            int loadVehicleCount = 0;
            for (DeviceConfig device : devices) {
                if (DeviceConfig.DeviceType.LOAD_VEHICLE.equals(device.getDeviceType())) {
                    loadVehicleCount++;
                }
            }
            int currentLoadVehicleIndex = 0;
            
            for (DeviceConfig device : devices) {
                String deviceType = device.getDeviceType();
                log.debug("处理设备: deviceId={}, deviceType={}, deviceName={}, WORKSTATION_SCANNER常量={}, equals={}", 
                        device.getId(), deviceType, device.getDeviceName(), 
                        DeviceConfig.DeviceType.WORKSTATION_SCANNER,
                        DeviceConfig.DeviceType.WORKSTATION_SCANNER.equals(deviceType));
                boolean isLoadVehicle = DeviceConfig.DeviceType.LOAD_VEHICLE.equals(deviceType);
                boolean isScanner = DeviceConfig.DeviceType.WORKSTATION_SCANNER.equals(deviceType) 
                        || (deviceType != null && (deviceType.contains("扫码") || deviceType.contains("SCANNER")));
                boolean isLargeGlass = DeviceConfig.DeviceType.LARGE_GLASS.equals(deviceType);
                boolean isTransfer = DeviceConfig.DeviceType.WORKSTATION_TRANSFER.equals(deviceType);
                log.debug("设备类型判断: deviceId={}, isLoadVehicle={}, isScanner={}, isLargeGlass={}, isTransfer={}", 
                        device.getId(), isLoadVehicle, isScanner, isLargeGlass, isTransfer);

                // 1. 卧转立扫码设备：启动定时器扫描（每10秒处理一个玻璃ID）
                if (isScanner) {
                    log.debug("检测到扫码设备，准备启动定时器: deviceId={}, deviceType={}, deviceName={}", 
                            device.getId(), device.getDeviceType(), device.getDeviceName());
                    TaskStepDetail step = createStepRecord(task, device, currentOrder);
                    
                    ScheduledFuture<?> scannerTask = startScannerTimer(task, step, device, context);
                    if (scannerTask != null) {
                        registerScheduledTask(task.getTaskId(), scannerTask);
                        stepSummaries.add(createStepSummary(device.getDeviceName(), true, "定时器已启动，每10秒扫描一次"));
                        log.debug("扫码设备定时器启动成功: deviceId={}, taskId={}", device.getId(), task.getTaskId());
                    } else {
                        log.warn("扫码设备定时器启动失败，glassIds可能为空: deviceId={}, taskId={}, contextParams={}", 
                                device.getId(), task.getTaskId(), context.getParameters());
                        stepSummaries.add(createStepSummary(device.getDeviceName(), false, "启动定时器失败"));
                        success = false;
                        failureMessage = "卧转立扫码设备启动定时器失败";
                        break;
                    }
                    currentOrder++;
                    continue;
                }

                // 2. 卧转立设备：启动定时器定期检查并处理（中转设备）
                if (isTransfer) {
                    log.debug("检测到卧转立设备，准备启动定时器: deviceId={}, deviceType={}, deviceName={}", 
                            device.getId(), device.getDeviceType(), device.getDeviceName());
                    TaskStepDetail step = createStepRecord(task, device, currentOrder);
                    
                    ScheduledFuture<?> transferTask = startTransferTimer(task, step, device, context);
                    if (transferTask != null) {
                        registerScheduledTask(task.getTaskId(), transferTask);
                        stepSummaries.add(createStepSummary(device.getDeviceName(), true, "定时器已启动，定期检查并处理玻璃批次"));
                        log.debug("卧转立设备定时器启动成功: deviceId={}, taskId={}", device.getId(), task.getTaskId());
                    } else {
                        log.warn("卧转立设备定时器启动失败: deviceId={}, taskId={}", device.getId(), task.getTaskId());
                        stepSummaries.add(createStepSummary(device.getDeviceName(), false, "启动定时器失败"));
                        success = false;
                        failureMessage = "卧转立设备启动定时器失败";
                        break;
                    }
                    currentOrder++;
                    continue;
                }

                // 3. 进片大车设备：启动定时器持续监控容量（第一个大车设备）
                if (isLoadVehicle) {
                    currentLoadVehicleIndex++;
                    boolean isInboundVehicle = currentLoadVehicleIndex == 1; // 第一个大车是进片大车
                    
                    TaskStepDetail step = createStepRecord(task, device, currentOrder);
                    
                    ScheduledFuture<?> vehicleTask;
                    if (isInboundVehicle) {
                        // 进片大车：监控容量，动态判断
                        vehicleTask = startInboundVehicleTimer(task, step, device, context);
                        if (vehicleTask != null) {
                            registerScheduledTask(task.getTaskId(), vehicleTask);
                            stepSummaries.add(createStepSummary(device.getDeviceName(), true, "进片大车定时器已启动，持续监控容量"));
                        } else {
                            stepSummaries.add(createStepSummary(device.getDeviceName(), false, "启动定时器失败"));
                            success = false;
                            failureMessage = "进片大车设备启动定时器失败";
                            break;
                        }
                    } else {
                        // 出片大车：启动定时器监控出片任务
                        vehicleTask = startOutboundVehicleTimer(task, step, device, context);
                        if (vehicleTask != null) {
                            registerScheduledTask(task.getTaskId(), vehicleTask);
                            stepSummaries.add(createStepSummary(device.getDeviceName(), true, "出片大车定时器已启动，持续监控出片任务"));
                        } else {
                            stepSummaries.add(createStepSummary(device.getDeviceName(), false, "启动定时器失败"));
                            success = false;
                            failureMessage = "出片大车设备启动定时器失败";
                            break;
                        }
                    }
                    currentOrder++;
                    continue;
                }

                // 4. 大理片笼设备：启动定时器逻辑处理（不涉及PLC交互，只负责逻辑处理）
                if (isLargeGlass) {
                    TaskStepDetail step = createStepRecord(task, device, currentOrder);
                    
                    ScheduledFuture<?> largeGlassTask = startLargeGlassTimer(task, step, device, context);
                    if (largeGlassTask != null) {
                        registerScheduledTask(task.getTaskId(), largeGlassTask);
                        stepSummaries.add(createStepSummary(device.getDeviceName(), true, "大理片笼定时器已启动，逻辑处理中"));
                    } else {
                        stepSummaries.add(createStepSummary(device.getDeviceName(), false, "启动定时器失败"));
                        success = false;
                        failureMessage = "大理片笼设备启动定时器失败";
                        break;
                    }
                    currentOrder++;
                    continue;
                }

                // 其他设备：正常执行
                TaskStepDetail step = createStepRecord(task, device, currentOrder);
                StepResult stepResult = executeStep(task, step, device, context);
                stepSummaries.add(stepResult.toSummary());
                if (!stepResult.isSuccess()) {
                    success = false;
                    failureMessage = stepResult.getMessage();
                    break;
                }
                currentOrder++;
            }
            
            // 如果所有设备都是定时器模式，任务保持运行状态，不等待完成
            // 定时器会在后台持续运行，直到手动停止或超时
            boolean hasScheduledTasks = !CollectionUtils.isEmpty(taskScheduledTasks.get(task.getTaskId()));
            if (hasScheduledTasks) {
                log.debug("任务已启动所有定时器，保持运行状态: taskId={}, scheduledTasksCount={}", 
                        task.getTaskId(), taskScheduledTasks.get(task.getTaskId()).size());
                // 任务保持 RUNNING 状态，定时器在后台运行
                // 不更新任务状态为 COMPLETED，让任务持续运行
                Map<String, Object> payload = new HashMap<>();
                payload.put("steps", stepSummaries);
                payload.put("groupId", groupConfig.getId());
                payload.put("deviceCount", devices.size());
                payload.put("executionMode", executionMode);
                payload.put("message", "任务已启动，定时器在后台运行中");
                
                // 通知任务状态（保持 RUNNING）
                notificationService.notifyTaskStatus(task);
                
                if (success) {
                    return TaskExecutionResult.success(payload);
                }
                return TaskExecutionResult.failure(failureMessage != null ? failureMessage : "任务执行失败", payload);
            }
            
            // 如果没有定时器任务，等待所有步骤完成
            // 这种情况通常不会发生，因为所有设备都是定时器模式
        }

        Map<String, Object> payload = new HashMap<>();
        payload.put("steps", stepSummaries);
        payload.put("groupId", groupConfig.getId());
        payload.put("deviceCount", devices.size());
        payload.put("executionMode", executionMode);

        // 停止所有定时器任务
        stopScheduledTasks(task.getTaskId());
        
        boolean cancelled = isTaskCancelled(context);
        // 更新任务最终状态
        if (cancelled) {
            task.setStatus(MultiDeviceTask.Status.CANCELLED.name());
            task.setErrorMessage("任务已取消");
        } else if (success) {
            task.setStatus(MultiDeviceTask.Status.COMPLETED.name());
        } else {
            task.setStatus(MultiDeviceTask.Status.FAILED.name());
            task.setErrorMessage(failureMessage);
        }
        task.setEndTime(new Date());
        multiDeviceTaskMapper.updateById(task);
        
        // 通知任务完成
        notificationService.notifyTaskStatus(task);
        
        if (success) {
            return TaskExecutionResult.success(payload);
        }
        return TaskExecutionResult.failure(failureMessage != null ? failureMessage : "任务执行失败", payload);
    }

    /**
     * 请求取消任务：停止所有定时器并标记上下文
     */
    public void requestTaskCancellation(String taskId) {
        TaskExecutionContext context = runningTaskContexts.get(taskId);
        if (context != null) {
            context.getSharedData().put("taskCancelled", true);
            log.warn("已标记任务取消: taskId={}", taskId);

            // 同时通知相关设备逻辑处理器执行取消收尾逻辑（例如停止大车内部的监控定时器）
            try {
                Map<String, Object> cancelParams = new HashMap<>();
                cancelParams.put("_taskContext", context);
                Object devicesObj = context.getSharedData().get("devices");
                if (devicesObj instanceof List) {
                    @SuppressWarnings("unchecked")
                    List<DeviceConfig> devices = (List<DeviceConfig>) devicesObj;
                    for (DeviceConfig device : devices) {
                        if (device == null) {
                            continue;
                        }
                        try {
                            DeviceLogicHandler handler = handlerFactory.getHandler(device.getDeviceType());
                            if (handler != null) {
                                // 目前大车逻辑处理器会在reset/clear等操作中停止内部监控定时器
                                // 这里统一调用一次“reset”作为任务取消时的收尾动作
                                handler.execute(device, "reset", cancelParams);
                            }
                        } catch (Exception e) {
                            log.warn("任务取消时执行设备收尾(reset)失败: taskId={}, deviceId={}, error={}",
                                    taskId, device.getId(), e.getMessage());
                        }
                    }
                }
            } catch (Exception e) {
                log.warn("任务取消时执行设备收尾逻辑异常: taskId={}, error={}", taskId, e.getMessage());
            }
        } else {
            log.warn("请求取消任务但未找到上下文: taskId={}", taskId);
        }
        stopScheduledTasks(taskId);
    }
    
    /**
     * 启动卧转立扫码设备定时器：每10秒处理一个玻璃ID
     */
    private ScheduledFuture<?> startScannerTimer(MultiDeviceTask task,
                                                 TaskStepDetail step,
                                                 DeviceConfig device,
                                                 TaskExecutionContext context) {
        try {
            TaskParameters params = context.getParameters();
            List<String> glassIds = params.getGlassIds();
            log.debug("卧转立扫码定时器初始化: taskId={}, deviceId={}, glassIds={}, glassIdsSize={}, isEmpty={}", 
                    task.getTaskId(), device.getId(), glassIds, 
                    glassIds != null ? glassIds.size() : 0, 
                    CollectionUtils.isEmpty(glassIds));
            if (CollectionUtils.isEmpty(glassIds)) {
                log.warn("卧转立扫码设备没有玻璃ID，定时器不启动: deviceId={}", device.getId());
                return null;
            }
            
            // 创建待处理玻璃ID队列
            Queue<String> glassIdQueue = new ConcurrentLinkedQueue<>(glassIds);
            AtomicInteger processedCount = new AtomicInteger(0);
            AtomicInteger successCount = new AtomicInteger(0);
            AtomicInteger failCount = new AtomicInteger(0);
            
            // 从设备配置中获取扫码间隔，默认10秒
            Map<String, Object> logicParams = parseLogicParams(device);
            Integer scanIntervalMs = getLogicParam(logicParams, "scanIntervalMs", 10_000);
            
            log.debug("启动卧转立扫码定时器: taskId={}, deviceId={}, glassCount={}, interval={}ms, glassIds={}",
                    task.getTaskId(), device.getId(), glassIds.size(), scanIntervalMs, glassIds);
            
            // 启动定时任务
            ScheduledFuture<?> future = scheduledExecutor.scheduleWithFixedDelay(() -> {
                try {
                    if (isTaskCancelled(context)) {
                        log.debug("任务已取消，停止卧转立扫码定时器: taskId={}, deviceId={}",
                                task.getTaskId(), device.getId());
                        return;
                    }
                    // 定时器第一次执行时，将设备状态从 WAITING 设置为 RUNNING
                    deviceCoordinationService.syncDeviceStatus(device,
                            DeviceCoordinationService.DeviceStatus.RUNNING, context);
                    ensureStepRunning(step, task.getTaskId());
                    // 检查是否需要暂停
                    if (shouldPauseScanner(context)) {
                        log.debug("卧转立扫码定时器暂停: taskId={}, deviceId={}", task.getTaskId(), device.getId());
                        return;
                    }
                    
                    // 检查是否还有待处理的玻璃ID
                    String glassId = glassIdQueue.poll();
                    if (glassId == null) {
                        log.debug("卧转立扫码定时器完成: taskId={}, deviceId={}, processed={}/{}, success={}, fail={}",
                                task.getTaskId(), device.getId(), processedCount.get(), glassIds.size(),
                                successCount.get(), failCount.get());
                        
                        // 清空plcRequest和plcGlassId（确保PLC状态清理）
                        try {
                            DeviceLogicHandler handler = handlerFactory.getHandler(device.getDeviceType());
                            if (handler != null) {
                                Map<String, Object> clearParams = new HashMap<>();
                                clearParams.put("_taskContext", context);
                                handler.execute(device, "clearPlc", clearParams);
                                log.debug("卧转立扫码定时器完成，已清空PLC请求字段: taskId={}, deviceId={}", 
                                        task.getTaskId(), device.getId());
                            }
                        } catch (Exception e) {
                            log.warn("卧转立扫码定时器完成时清空PLC失败: taskId={}, deviceId={}, error={}", 
                                    task.getTaskId(), device.getId(), e.getMessage());
                        }
                        
                        // 若之前未出现失败，再将状态置为完成
                        boolean alreadyFailed = TaskStepDetail.Status.FAILED.name().equals(step.getStatus());
                        if (!alreadyFailed) {
                            step.setStatus(TaskStepDetail.Status.COMPLETED.name());
                            step.setSuccessMessage(String.format("已完成扫描: 成功=%d, 失败=%d", successCount.get(), failCount.get()));
                            if (step.getEndTime() == null) {
                                step.setEndTime(new Date());
                            }
                            taskStepDetailMapper.updateById(step);
                            notificationService.notifyStepUpdate(task.getTaskId(), step);
                            // 扫码设备完成后尝试自动收尾整个任务
                            checkAndCompleteTaskIfDone(step.getTaskId());
                        }
                        deviceCoordinationService.syncDeviceStatus(device,
                                DeviceCoordinationService.DeviceStatus.COMPLETED, context);
                        return;
                    }
                    
                    int currentIndex = processedCount.incrementAndGet();
                    log.debug("卧转立扫码定时器处理第{}/{}个玻璃: taskId={}, deviceId={}, glassId={}",
                            currentIndex, glassIds.size(), task.getTaskId(), device.getId(), glassId);
                    
                    // 执行单次扫描
                    Map<String, Object> scanParams = new HashMap<>();
                    scanParams.put("glassId", glassId);
                    scanParams.put("_taskContext", context);
                    log.debug("卧转立扫码定时器准备执行: taskId={}, deviceId={}, glassId={}, scanParams={}", 
                            task.getTaskId(), device.getId(), glassId, scanParams);
                    
                    DeviceLogicHandler handler = handlerFactory.getHandler(device.getDeviceType());
                    if (handler != null) {
                        // 将logicParams合并到scanParams中（使用已定义的logicParams变量）
                        if (logicParams != null && !logicParams.isEmpty()) {
                            scanParams.put("_logicParams", logicParams);
                        }
                        log.debug("卧转立扫码定时器调用handler.execute: taskId={}, deviceId={}, glassId={}, operation=scanOnce, scanParamsKeys={}, scanParams={}", 
                                task.getTaskId(), device.getId(), glassId, scanParams.keySet(), scanParams);
                        DevicePlcVO.OperationResult result = handler.execute(device, "scanOnce", scanParams);
                        log.debug("卧转立扫码定时器handler.execute返回: taskId={}, deviceId={}, glassId={}, success={}", 
                                task.getTaskId(), device.getId(), glassId, result.getSuccess());
                        
                        if (Boolean.TRUE.equals(result.getSuccess())) {
                            successCount.incrementAndGet();
                            log.debug("卧转立扫码定时器处理成功: taskId={}, deviceId={}, glassId={}",
                                    task.getTaskId(), device.getId(), glassId);
                        } else {
                            failCount.incrementAndGet();
                            log.warn("卧转立扫码定时器处理失败: taskId={}, deviceId={}, glassId={}, error={}",
                                    task.getTaskId(), device.getId(), glassId, result.getMessage());
                        }
                        
                        // 更新步骤状态（显示进度，保持RUNNING状态直到所有玻璃处理完成）
                        updateStepStatusForScanner(step, result, currentIndex, glassIds.size(), 
                                successCount.get(), failCount.get());
                        // 通知步骤更新（让前端实时看到步骤状态和进度）
                        notificationService.notifyStepUpdate(task.getTaskId(), step);
                        boolean opSuccess = Boolean.TRUE.equals(result.getSuccess());
                        updateTaskProgress(task, step.getStepOrder(), opSuccess);
                        if (!opSuccess) {
                            deviceCoordinationService.syncDeviceStatus(device,
                                    DeviceCoordinationService.DeviceStatus.FAILED, context);
                        }
                    }
                } catch (Exception e) {
                    log.error("卧转立扫码定时器执行异常: taskId={}, deviceId={}", task.getTaskId(), device.getId(), e);
                    failCount.incrementAndGet();
                }
            }, 0, scanIntervalMs, TimeUnit.MILLISECONDS);
            
            // 在串行执行模式下，扫码设备是第一个，应该立即设置为 RUNNING
            // 其他设备保持 WAITING，直到它们真正开始工作
            deviceCoordinationService.syncDeviceStatus(device,
                    DeviceCoordinationService.DeviceStatus.RUNNING, context);
            return future;
        } catch (Exception e) {
            log.error("启动卧转立扫码定时器失败: taskId={}, deviceId={}", task.getTaskId(), device.getId(), e);
            return null;
        }
    }
    
    /**
     * 启动卧转立设备定时器：定期检查并处理玻璃批次
     */
    private ScheduledFuture<?> startTransferTimer(MultiDeviceTask task,
                                                  TaskStepDetail step,
                                                  DeviceConfig device,
                                                  TaskExecutionContext context) {
        try {
            // 从设备配置中获取监控间隔，默认5秒
            Map<String, Object> logicParams = parseLogicParams(device);
            Integer monitorIntervalMs = getLogicParam(logicParams, "monitorIntervalMs", 5_000);
            
            log.debug("启动卧转立设备定时器: taskId={}, deviceId={}, interval={}ms",
                    task.getTaskId(), device.getId(), monitorIntervalMs);
            
            // 启动定时任务
            // 使用AtomicBoolean标记是否第一次执行
            final java.util.concurrent.atomic.AtomicBoolean firstExecution = new java.util.concurrent.atomic.AtomicBoolean(true);
            
            ScheduledFuture<?> future = scheduledExecutor.scheduleWithFixedDelay(() -> {
                try {
                    if (isTaskCancelled(context)) {
                        log.debug("任务已取消，停止卧转立设备定时器: taskId={}, deviceId={}",
                                task.getTaskId(), device.getId());
                        return;
                    }
                    
                    // 如果步骤已经完成，不再执行后续逻辑（避免状态被重置）
                    if (TaskStepDetail.Status.COMPLETED.name().equals(step.getStatus())) {
                        log.debug("卧转立设备步骤已完成，停止定时器执行: taskId={}, deviceId={}",
                                task.getTaskId(), device.getId());
                        return;
                    }
                    
                    // 构建参数
                    Map<String, Object> params = new HashMap<>();
                    params.put("_taskContext", context);
                    if (logicParams != null && !logicParams.isEmpty()) {
                        params.put("_logicParams", logicParams);
                    }
                    
                    // 调用handler执行checkAndProcess
                    DeviceLogicHandler handler = handlerFactory.getHandler(device.getDeviceType());
                    if (handler != null) {
                        DevicePlcVO.OperationResult result = handler.execute(device, "checkAndProcess", params);
                        
                        // 检查是否有数据：如果有数据或正在处理，设置为RUNNING；如果缓冲队列为空且无待处理玻璃，保持PENDING
                        String message = result.getMessage();
                        boolean hasData = result.getSuccess() != null && result.getSuccess() 
                                && message != null && !message.contains("缓冲队列为空，无待处理玻璃");
                        
                        // 如果当前是PENDING状态，且检测到有数据，则设置为RUNNING（设备开始工作）
                        boolean isPending = TaskStepDetail.Status.PENDING.name().equals(step.getStatus());
                        
                        if (hasData && isPending) {
                            // 检测到数据且当前是等待状态，设备开始工作，设置为RUNNING
                            deviceCoordinationService.syncDeviceStatus(device,
                                    DeviceCoordinationService.DeviceStatus.RUNNING, context);
                            step.setStatus(TaskStepDetail.Status.RUNNING.name());
                            if (step.getStartTime() == null) {
                                step.setStartTime(new Date());
                            }
                            taskStepDetailMapper.updateById(step);
                            notificationService.notifyStepUpdate(task.getTaskId(), step);
                            log.debug("卧转立设备定时器检测到数据，从PENDING转为RUNNING: taskId={}, deviceId={}, message={}",
                                    task.getTaskId(), device.getId(), message);
                        } else if (!hasData) {
                            // 没有数据，保持PENDING状态，等待扫码设备输出
                            if (firstExecution.compareAndSet(true, false)) {
                                // 第一次执行，确保状态是PENDING
                                if (!TaskStepDetail.Status.PENDING.name().equals(step.getStatus())) {
                                    step.setStatus(TaskStepDetail.Status.PENDING.name());
                                    step.setSuccessMessage("等待扫码设备输出数据");
                                    taskStepDetailMapper.updateById(step);
                                    notificationService.notifyStepUpdate(task.getTaskId(), step);
                                }
                                log.debug("卧转立设备定时器第一次执行，无数据，保持PENDING: taskId={}, deviceId={}, message={}",
                                        task.getTaskId(), device.getId(), message);
                            }
                            return; // 不执行后续逻辑，等待下一次定时器触发
                        }
                        
                        // 更新步骤状态（区分等待中和真正完成）
                        updateStepStatusForTransfer(step, result, device, context);
                        // 通知步骤更新（让前端实时看到步骤状态）
                        notificationService.notifyStepUpdate(task.getTaskId(), step);
                        boolean opSuccess = Boolean.TRUE.equals(result.getSuccess());
                        updateTaskProgress(task, step.getStepOrder(), opSuccess);
                        
                        // 根据执行结果更新设备状态
                        // 注意：设备已经开始工作（定时器已执行），所以应该保持RUNNING状态
                        // 只有在真正完成时才设置为COMPLETED
                        if (opSuccess) {
                            // 设备正在工作（等待缓冲、处理中等），保持RUNNING状态
                            deviceCoordinationService.syncDeviceStatus(device,
                                    DeviceCoordinationService.DeviceStatus.RUNNING, context);
                            if (message != null && message.contains("批次已写入PLC")) {
                                log.debug("卧转立设备定时器执行成功（已写入PLC）: taskId={}, deviceId={}, message={}",
                                        task.getTaskId(), device.getId(), message);
                            } else {
                                log.debug("卧转立设备定时器工作中（等待缓冲）: taskId={}, deviceId={}, message={}",
                                        task.getTaskId(), device.getId(), message);
                            }
                        } else {
                            log.warn("卧转立设备定时器执行失败: taskId={}, deviceId={}, message={}",
                                    task.getTaskId(), device.getId(), result.getMessage());
                            deviceCoordinationService.syncDeviceStatus(device,
                                    DeviceCoordinationService.DeviceStatus.FAILED, context);
                        }
                    }
                } catch (Exception e) {
                    log.error("卧转立设备定时器执行异常: taskId={}, deviceId={}", task.getTaskId(), device.getId(), e);
                }
            }, 0, monitorIntervalMs, TimeUnit.MILLISECONDS);
            
            // 在串行执行模式下，设备启动定时器时先设置为 WAITING，定时器第一次执行时再设置为 RUNNING
            deviceCoordinationService.syncDeviceStatus(device,
                    DeviceCoordinationService.DeviceStatus.WAITING, context);
            return future;
        } catch (Exception e) {
            log.error("启动卧转立设备定时器失败: taskId={}, deviceId={}", task.getTaskId(), device.getId(), e);
            return null;
        }
    }
    
    /**
     * 启动进片大车设备定时器：持续监控容量，动态判断
     */
    private ScheduledFuture<?> startInboundVehicleTimer(MultiDeviceTask task,
                                                        TaskStepDetail step,
                                                        DeviceConfig device,
                                                        TaskExecutionContext context) {
        try {
            final long MONITOR_INTERVAL_MS = 2_000; // 2秒监控一次
            final AtomicInteger lastProcessedCount = new AtomicInteger(0);
            
            log.debug("启动进片大车设备定时器: taskId={}, deviceId={}, interval={}s",
                    task.getTaskId(), device.getId(), MONITOR_INTERVAL_MS / 1000);
            
            // 启动定时任务
            ScheduledFuture<?> future = scheduledExecutor.scheduleWithFixedDelay(() -> {
                try {
                    if (isTaskCancelled(context)) {
                        log.debug("任务已取消，停止进片大车定时器: taskId={}, deviceId={}",
                                task.getTaskId(), device.getId());
                        return;
                    }
                    // 进片大车设备：只有在真正开始处理时才设置为RUNNING
                    // 检查是否有卧转立主体已输出、准备上大车的玻璃信息
                    List<String> readyGlassIds = getTransferReadyGlassIds(context);
                    
                    // 如果当前没有新的玻璃，无论步骤是否已进入RUNNING，都应该轮询MES任务/确认状态
                    if (CollectionUtils.isEmpty(readyGlassIds)) {
                        // 轮询MES任务/确认，避免错过MES侧后写入的任务
                        pollMesForVehicle(task, step, device, context);
                        // 如果仍然没有卧转立输出的玻璃，保持/更新为PENDING提示
                        if (!TaskStepDetail.Status.RUNNING.name().equals(step.getStatus())
                                && !TaskStepDetail.Status.PENDING.name().equals(step.getStatus())) {
                            step.setStatus(TaskStepDetail.Status.PENDING.name());
                            step.setSuccessMessage("等待卧转立输出玻璃");
                            taskStepDetailMapper.updateById(step);
                            notificationService.notifyStepUpdate(task.getTaskId(), step);
                        }
                        return;
                    }
                    
                    // 如果玻璃ID数量没有变化，说明没有新的玻璃
                    int currentCount = readyGlassIds.size();
                    if (currentCount == lastProcessedCount.get()) {
                        // 玻璃数量没有变化：没有新玻璃，但仍需轮询MES任务/确认，避免错过MES侧的变化
                        pollMesForVehicle(task, step, device, context);
                        log.debug("大车设备定时器：玻璃ID数量未变化，继续等待: taskId={}, deviceId={}, count={}",
                                task.getTaskId(), device.getId(), currentCount);
                        return;
                    }
                    
                        log.debug("进片大车设备定时器检测到卧转立输出的玻璃信息: taskId={}, deviceId={}, glassCount={}",
                            task.getTaskId(), device.getId(), currentCount);
                    
                    // 检查容量
                    Map<String, Object> checkParams = new HashMap<>();
                    checkParams.put("glassIds", new ArrayList<>(readyGlassIds));
                    checkParams.put("_taskContext", context);
                    
                    DeviceLogicHandler handler = handlerFactory.getHandler(device.getDeviceType());
                    if (handler != null) {
                        // 将logicParams合并到checkParams中
                        Map<String, Object> logicParams = parseLogicParams(device);
                        if (logicParams != null && !logicParams.isEmpty()) {
                            checkParams.put("_logicParams", logicParams);
                        }
                        // 第一步：写入大车上料请求
                        DevicePlcVO.OperationResult feedResult = handler.execute(device, "feedGlass", checkParams);
                        
                        if (Boolean.TRUE.equals(feedResult.getSuccess())) {
                            // 真正开始处理，设置为RUNNING
                            deviceCoordinationService.syncDeviceStatus(device,
                                    DeviceCoordinationService.DeviceStatus.RUNNING, context);
                            // 步骤状态也设置为RUNNING
                            if (!TaskStepDetail.Status.RUNNING.name().equals(step.getStatus())) {
                                step.setStatus(TaskStepDetail.Status.RUNNING.name());
                                if (step.getStartTime() == null) {
                                    step.setStartTime(new Date());
                                }
                                taskStepDetailMapper.updateById(step);
                                notificationService.notifyStepUpdate(task.getTaskId(), step);
                            }
                            log.debug("进片大车设备定时器执行成功: taskId={}, deviceId={}, glassCount={}",
                                    task.getTaskId(), device.getId(), readyGlassIds.size());
                            // 将已装载的玻璃ID保存到共享数据中（供大理片笼使用）
                            setLoadedGlassIds(context, new ArrayList<>(readyGlassIds));
                            // 清空卧转立输出的玻璃ID列表（已处理）
                            clearTransferReadyGlassIds(context);
                            lastProcessedCount.set(0);
                            // 确保卧转立扫码继续运行
                            setScannerPause(context, false);
                            
                            // feedGlass成功后，先检查MES任务（checkMesTask）来开始执行任务
                            DevicePlcVO.OperationResult mesTaskResult = null;
                            try {
                                mesTaskResult = handler.execute(device, "checkMesTask", Collections.emptyMap());
                                if (mesTaskResult != null && Boolean.TRUE.equals(mesTaskResult.getSuccess())) {
                                    log.info("进片大车设备已检查MES任务并开始执行: taskId={}, deviceId={}, message={}",
                                            task.getTaskId(), device.getId(), mesTaskResult.getMessage());
                                }
                            } catch (Exception e) {
                                log.warn("进片大车设备检查MES任务异常: taskId={}, deviceId={}, error={}",
                                        task.getTaskId(), device.getId(), e.getMessage());
                            }
                        } else {
                            // 装不下，保持WAITING状态和PENDING步骤状态
                            deviceCoordinationService.syncDeviceStatus(device,
                                    DeviceCoordinationService.DeviceStatus.WAITING, context);
                            if (!TaskStepDetail.Status.PENDING.name().equals(step.getStatus())) {
                                step.setStatus(TaskStepDetail.Status.PENDING.name());
                                step.setSuccessMessage("容量不足，等待中");
                                taskStepDetailMapper.updateById(step);
                                notificationService.notifyStepUpdate(task.getTaskId(), step);
                            }
                            // 装不下，记录容量不足（是否需要影响扫码由工艺再决定）
                            log.warn("进片大车设备定时器容量不足: taskId={}, deviceId={}, message={}",
                                    task.getTaskId(), device.getId(), feedResult.getMessage());
                            lastProcessedCount.set(currentCount); // 记录当前数量，避免重复检查
                        }
                        
                        // 第二步：检查MES确认状态（如果大车处理器支持的话）
                        // 只有在任务已开始执行（有任务记录）时才检查MES确认
                        DevicePlcVO.OperationResult mesResult = null;
                        try {
                            mesResult = handler.execute(device, "checkMesConfirm", Collections.emptyMap());
                        } catch (Exception e) {
                            log.warn("进片大车设备检查MES确认状态异常: taskId={}, deviceId={}, error={}",
                                    task.getTaskId(), device.getId(), e.getMessage());
                        }
                        
                        // 更新步骤状态（大车设备保持RUNNING，直到MES确认完成或任务取消）
                        if (mesResult != null) {
                            updateStepStatusForVehicle(step, mesResult);
                            boolean opSuccess = Boolean.TRUE.equals(mesResult.getSuccess());
                            updateTaskProgress(task, step.getStepOrder(), opSuccess);
                            if (!opSuccess) {
                                deviceCoordinationService.syncDeviceStatus(device,
                                        DeviceCoordinationService.DeviceStatus.FAILED, context);
                            }
                        } else {
                            updateStepStatusForVehicle(step, feedResult);
                            boolean opSuccess = Boolean.TRUE.equals(feedResult.getSuccess());
                            updateTaskProgress(task, step.getStepOrder(), opSuccess);
                            if (!opSuccess) {
                                deviceCoordinationService.syncDeviceStatus(device,
                                        DeviceCoordinationService.DeviceStatus.FAILED, context);
                            }
                        }
                    }
                } catch (Exception e) {
                    log.error("进片大车设备定时器执行异常: taskId={}, deviceId={}", task.getTaskId(), device.getId(), e);
                }
            }, 0, MONITOR_INTERVAL_MS, TimeUnit.MILLISECONDS);
            
            // 在串行执行模式下，设备启动定时器时先设置为 WAITING，定时器第一次执行时再设置为 RUNNING
            deviceCoordinationService.syncDeviceStatus(device,
                    DeviceCoordinationService.DeviceStatus.WAITING, context);
            return future;
        } catch (Exception e) {
            log.error("启动进片大车设备定时器失败: taskId={}, deviceId={}", task.getTaskId(), device.getId(), e);
            return null;
        }
    }
    
    /**
     * 启动出片大车设备定时器：持续监控出片任务
     */
    private ScheduledFuture<?> startOutboundVehicleTimer(MultiDeviceTask task,
                                                         TaskStepDetail step,
                                                         DeviceConfig device,
                                                         TaskExecutionContext context) {
        try {
            final long MONITOR_INTERVAL_MS = 2_000; // 2秒监控一次
            
            log.debug("启动出片大车设备定时器: taskId={}, deviceId={}, interval={}s",
                    task.getTaskId(), device.getId(), MONITOR_INTERVAL_MS / 1000);
            
            // 启动定时任务
            ScheduledFuture<?> future = scheduledExecutor.scheduleWithFixedDelay(() -> {
                try {
                    if (isTaskCancelled(context)) {
                        log.debug("任务已取消，停止出片大车定时器: taskId={}, deviceId={}",
                                task.getTaskId(), device.getId());
                        return;
                    }
                    // 出片大车设备：只有在真正开始处理时才设置为RUNNING
                    // 检查是否有已处理的玻璃信息（从大理片笼来的）
                    List<String> processedGlassIds = getProcessedGlassIds(context);
                    boolean isRunning = TaskStepDetail.Status.RUNNING.name().equals(step.getStatus());
                    
                    // 如果设备已经在运行中，即使没有新玻璃，也要继续监控MES任务和确认状态
                    if (CollectionUtils.isEmpty(processedGlassIds)) {
                        if (isRunning) {
                            // 设备正在运行中，先检查MES任务，然后监控MES确认状态
                            DeviceLogicHandler handler = handlerFactory.getHandler(device.getDeviceType());
                            if (handler != null) {
                                Map<String, Object> logicParams = parseLogicParams(device);
                                
                                // 先检查MES任务（如果mesSend=1，会创建任务并开始执行）
                                DevicePlcVO.OperationResult mesTaskResult = null;
                                try {
                                    mesTaskResult = handler.execute(device, "checkMesTask", Collections.emptyMap());
                                    if (mesTaskResult != null && Boolean.TRUE.equals(mesTaskResult.getSuccess())) {
                                        log.info("出片大车设备已检查MES任务并开始执行: taskId={}, deviceId={}, message={}",
                                                task.getTaskId(), device.getId(), mesTaskResult.getMessage());
                                    }
                                } catch (Exception e) {
                                    log.warn("出片大车设备检查MES任务异常: taskId={}, deviceId={}, error={}",
                                            task.getTaskId(), device.getId(), e.getMessage());
                                }
                                
                                // 然后检查MES确认状态（只有在任务已开始执行时才检查）
                                DevicePlcVO.OperationResult mesResult = null;
                                try {
                                    mesResult = handler.execute(device, "checkMesConfirm", Collections.emptyMap());
                                } catch (Exception e) {
                                    log.warn("出片大车设备检查MES确认状态异常: taskId={}, deviceId={}, error={}",
                                            task.getTaskId(), device.getId(), e.getMessage());
                                }
                                
                                // 更新步骤状态（大车设备保持RUNNING，直到MES确认完成或任务取消）
                                if (mesResult != null) {
                                    updateStepStatusForVehicle(step, mesResult);
                                    boolean opSuccess = Boolean.TRUE.equals(mesResult.getSuccess());
                                    updateTaskProgress(task, step.getStepOrder(), opSuccess);
                                    if (!opSuccess) {
                                        deviceCoordinationService.syncDeviceStatus(device,
                                                DeviceCoordinationService.DeviceStatus.FAILED, context);
                                    }
                                }
                            }
                            return;
                        } else {
                            // 没有数据，且设备未运行，保持PENDING状态
                            if (!TaskStepDetail.Status.PENDING.name().equals(step.getStatus())) {
                                step.setStatus(TaskStepDetail.Status.PENDING.name());
                                step.setSuccessMessage("等待大理片笼处理完成");
                                taskStepDetailMapper.updateById(step);
                                notificationService.notifyStepUpdate(task.getTaskId(), step);
                            }
                            log.debug("出片大车设备定时器：暂无已处理的玻璃信息: taskId={}, deviceId={}",
                                    task.getTaskId(), device.getId());
                            return;
                        }
                    }
                    
                    log.debug("出片大车设备定时器检测到已处理的玻璃信息: taskId={}, deviceId={}, glassCount={}",
                            task.getTaskId(), device.getId(), processedGlassIds.size());
                    
                    // 执行出片操作
                    Map<String, Object> checkParams = new HashMap<>();
                    checkParams.put("glassIds", new ArrayList<>(processedGlassIds));
                    checkParams.put("_taskContext", context);
                    
                    DeviceLogicHandler handler = handlerFactory.getHandler(device.getDeviceType());
                    if (handler != null) {
                        // 将logicParams合并到checkParams中
                        Map<String, Object> logicParams = parseLogicParams(device);
                        if (logicParams != null && !logicParams.isEmpty()) {
                            checkParams.put("_logicParams", logicParams);
                        }
                        // 第一步：写入大车出片请求
                        DevicePlcVO.OperationResult feedResult = handler.execute(device, "feedGlass", checkParams);
                        
                        if (Boolean.TRUE.equals(feedResult.getSuccess())) {
                            // 真正开始处理，设置为RUNNING
                            deviceCoordinationService.syncDeviceStatus(device,
                                    DeviceCoordinationService.DeviceStatus.RUNNING, context);
                            // 步骤状态也设置为RUNNING
                            if (!TaskStepDetail.Status.RUNNING.name().equals(step.getStatus())) {
                                step.setStatus(TaskStepDetail.Status.RUNNING.name());
                                if (step.getStartTime() == null) {
                                    step.setStartTime(new Date());
                                }
                                taskStepDetailMapper.updateById(step);
                                notificationService.notifyStepUpdate(task.getTaskId(), step);
                            }
                            log.debug("出片大车设备定时器执行成功: taskId={}, deviceId={}, glassCount={}",
                                    task.getTaskId(), device.getId(), processedGlassIds.size());
                            // 清空已处理的玻璃ID列表（已处理）
                            clearProcessedGlassIds(context);
                            
                            // feedGlass成功后，先检查MES任务（checkMesTask）来开始执行任务
                            DevicePlcVO.OperationResult mesTaskResult = null;
                            try {
                                mesTaskResult = handler.execute(device, "checkMesTask", Collections.emptyMap());
                                if (mesTaskResult != null && Boolean.TRUE.equals(mesTaskResult.getSuccess())) {
                                    log.info("出片大车设备已检查MES任务并开始执行: taskId={}, deviceId={}, message={}",
                                            task.getTaskId(), device.getId(), mesTaskResult.getMessage());
                                }
                            } catch (Exception e) {
                                log.warn("出片大车设备检查MES任务异常: taskId={}, deviceId={}, error={}",
                                        task.getTaskId(), device.getId(), e.getMessage());
                            }
                        } else {
                            // 没有数据，保持WAITING状态和PENDING步骤状态
                            deviceCoordinationService.syncDeviceStatus(device,
                                    DeviceCoordinationService.DeviceStatus.WAITING, context);
                            if (!TaskStepDetail.Status.PENDING.name().equals(step.getStatus())) {
                                step.setStatus(TaskStepDetail.Status.PENDING.name());
                                step.setSuccessMessage("等待中");
                                taskStepDetailMapper.updateById(step);
                                notificationService.notifyStepUpdate(task.getTaskId(), step);
                            }
                            log.debug("出片大车设备定时器执行失败: taskId={}, deviceId={}, message={}",
                                    task.getTaskId(), device.getId(), feedResult.getMessage());
                        }
                        
                        // 第二步：检查MES确认状态（如果大车处理器支持的话）
                        // 只有在任务已开始执行（有任务记录）时才检查MES确认
                        DevicePlcVO.OperationResult mesResult = null;
                        try {
                            mesResult = handler.execute(device, "checkMesConfirm", Collections.emptyMap());
                        } catch (Exception e) {
                            log.warn("出片大车设备检查MES确认状态异常: taskId={}, deviceId={}, error={}",
                                    task.getTaskId(), device.getId(), e.getMessage());
                        }
                        
                        // 更新步骤状态（大车设备保持RUNNING，直到MES确认完成或任务取消）
                        if (mesResult != null) {
                            updateStepStatusForVehicle(step, mesResult);
                            boolean opSuccess = Boolean.TRUE.equals(mesResult.getSuccess());
                            updateTaskProgress(task, step.getStepOrder(), opSuccess);
                            if (!opSuccess) {
                                deviceCoordinationService.syncDeviceStatus(device,
                                        DeviceCoordinationService.DeviceStatus.FAILED, context);
                            }
                        } else {
                            updateStepStatusForVehicle(step, feedResult);
                            boolean opSuccess = Boolean.TRUE.equals(feedResult.getSuccess());
                            updateTaskProgress(task, step.getStepOrder(), opSuccess);
                            if (!opSuccess) {
                                deviceCoordinationService.syncDeviceStatus(device,
                                        DeviceCoordinationService.DeviceStatus.FAILED, context);
                            }
                        }
                    }
                } catch (Exception e) {
                    log.error("出片大车设备定时器执行异常: taskId={}, deviceId={}", task.getTaskId(), device.getId(), e);
                }
            }, 0, MONITOR_INTERVAL_MS, TimeUnit.MILLISECONDS);
            
            // 在串行执行模式下，设备启动定时器时先设置为 WAITING，定时器第一次执行时再设置为 RUNNING
            deviceCoordinationService.syncDeviceStatus(device,
                    DeviceCoordinationService.DeviceStatus.WAITING, context);
            return future;
        } catch (Exception e) {
            log.error("启动出片大车设备定时器失败: taskId={}, deviceId={}", task.getTaskId(), device.getId(), e);
            return null;
        }
    }
    
    /**
     * 启动大理片笼设备定时器：逻辑处理（不涉及PLC交互，只负责逻辑处理，比如多久给任务汇报）
     */
    private ScheduledFuture<?> startLargeGlassTimer(MultiDeviceTask task,
                                                    TaskStepDetail step,
                                                    DeviceConfig device,
                                                    TaskExecutionContext context) {
        try {
            // 从设备配置中获取处理时间（默认30秒）
            Map<String, Object> logicParams = parseLogicParams(device);
            Integer processTimeSeconds = getLogicParam(logicParams, "processTimeSeconds", 30);
            final long PROCESS_TIME_MS = processTimeSeconds * 1000;
            
            log.debug("启动大理片笼设备定时器: taskId={}, deviceId={}, processTime={}s",
                    task.getTaskId(), device.getId(), processTimeSeconds);
            
            // 启动定时任务
            ScheduledFuture<?> future = scheduledExecutor.scheduleWithFixedDelay(() -> {
                try {
                    if (isTaskCancelled(context)) {
                        log.debug("任务已取消，停止大理片笼定时器: taskId={}, deviceId={}",
                                task.getTaskId(), device.getId());
                        return;
                    }
                    // 大理片笼设备：只有在真正开始处理时才设置为RUNNING
                    // 检查是否有已装载的玻璃信息（从进片大车来的）
                    List<String> loadedGlassIds = getLoadedGlassIds(context);
                    if (CollectionUtils.isEmpty(loadedGlassIds)) {
                        // 没有数据，保持WAITING状态和PENDING步骤状态
                        deviceCoordinationService.syncDeviceStatus(device,
                                DeviceCoordinationService.DeviceStatus.WAITING, context);
                        if (!TaskStepDetail.Status.PENDING.name().equals(step.getStatus())) {
                            step.setStatus(TaskStepDetail.Status.PENDING.name());
                            step.setSuccessMessage("等待进片大车装载玻璃");
                            taskStepDetailMapper.updateById(step);
                            notificationService.notifyStepUpdate(task.getTaskId(), step);
                        }
                        log.debug("大理片笼设备定时器：暂无已装载的玻璃信息: taskId={}, deviceId={}",
                                task.getTaskId(), device.getId());
                        return;
                    }
                    
                    // 有数据，设置为RUNNING
                    deviceCoordinationService.syncDeviceStatus(device,
                            DeviceCoordinationService.DeviceStatus.RUNNING, context);
                    
                    // 检查玻璃是否已经处理完成（通过处理时间判断）
                    Long processStartTime = getProcessStartTime(context);
                    if (processStartTime == null) {
                        // 第一次检测到玻璃，记录开始处理时间
                        setProcessStartTime(context, System.currentTimeMillis());
                        log.debug("大理片笼设备开始处理: taskId={}, deviceId={}, glassCount={}, processTime={}s",
                                task.getTaskId(), device.getId(), loadedGlassIds.size(), processTimeSeconds);
                        return;
                    }
                    
                    long elapsed = System.currentTimeMillis() - processStartTime;
                    if (elapsed < PROCESS_TIME_MS) {
                        // 处理时间未到，继续等待
                        log.debug("大理片笼设备处理中: taskId={}, deviceId={}, elapsed={}s, remaining={}s",
                                task.getTaskId(), device.getId(), elapsed / 1000, (PROCESS_TIME_MS - elapsed) / 1000);
                        return;
                    }
                    
                    // 处理时间已到，完成任务汇报
                    log.debug("大理片笼设备处理完成: taskId={}, deviceId={}, glassCount={}, processTime={}s",
                            task.getTaskId(), device.getId(), loadedGlassIds.size(), processTimeSeconds);
                    
                    // 将已处理的玻璃ID转移到已处理列表（供出片大车使用）
                    setProcessedGlassIds(context, new ArrayList<>(loadedGlassIds));
                    clearLoadedGlassIds(context);
                    clearProcessStartTime(context);
                    
                    // 更新步骤状态
                    step.setStatus(TaskStepDetail.Status.COMPLETED.name());
                    step.setErrorMessage(null);
                    step.setOutputData(toJson(Collections.singletonMap("glassIds", loadedGlassIds)));
                    taskStepDetailMapper.updateById(step);
                    // 大理片笼完成后尝试自动收尾整个任务
                    checkAndCompleteTaskIfDone(step.getTaskId());
                    
                } catch (Exception e) {
                    log.error("大理片笼设备定时器执行异常: taskId={}, deviceId={}", task.getTaskId(), device.getId(), e);
                }
            }, 0, 1_000, TimeUnit.MILLISECONDS); // 每秒检查一次
            
            // 在串行执行模式下，设备启动定时器时先设置为 WAITING，定时器第一次执行时再设置为 RUNNING
            deviceCoordinationService.syncDeviceStatus(device,
                    DeviceCoordinationService.DeviceStatus.WAITING, context);
            return future;
        } catch (Exception e) {
            log.error("启动大理片笼设备定时器失败: taskId={}, deviceId={}", task.getTaskId(), device.getId(), e);
            return null;
        }
    }
    
    /**
     * 获取逻辑参数
     */
    @SuppressWarnings("unchecked")
    private <T> T getLogicParam(Map<String, Object> logicParams, String key, T defaultValue) {
        if (logicParams == null) {
            return defaultValue;
        }
        Object value = logicParams.get(key);
        if (value == null) {
            return defaultValue;
        }
        try {
            return (T) value;
        } catch (ClassCastException e) {
            return defaultValue;
        }
    }
    
    /**
     * 获取已装载的玻璃ID列表
     */
    @SuppressWarnings("unchecked")
    private List<String> getLoadedGlassIds(TaskExecutionContext context) {
        if (context == null) {
            return Collections.emptyList();
        }
        Object glassIds = context.getSharedData().get("loadedGlassIds");
        if (glassIds instanceof List) {
            return new ArrayList<>((List<String>) glassIds);
        }
        return Collections.emptyList();
    }
    
    /**
     * 设置已装载的玻璃ID列表
     */
    private void setLoadedGlassIds(TaskExecutionContext context, List<String> glassIds) {
        if (context != null) {
            context.getSharedData().put("loadedGlassIds", new ArrayList<>(glassIds));
        }
    }
    
    /**
     * 清空已装载的玻璃ID列表
     */
    private void clearLoadedGlassIds(TaskExecutionContext context) {
        if (context != null) {
            context.getSharedData().put("loadedGlassIds", new ArrayList<>());
        }
    }
    
    /**
     * 获取已处理的玻璃ID列表
     */
    @SuppressWarnings("unchecked")
    private List<String> getProcessedGlassIds(TaskExecutionContext context) {
        if (context == null) {
            return Collections.emptyList();
        }
        Object glassIds = context.getSharedData().get("processedGlassIds");
        if (glassIds instanceof List) {
            return new ArrayList<>((List<String>) glassIds);
        }
        return Collections.emptyList();
    }
    
    /**
     * 设置已处理的玻璃ID列表
     */
    private void setProcessedGlassIds(TaskExecutionContext context, List<String> glassIds) {
        if (context != null) {
            context.getSharedData().put("processedGlassIds", new ArrayList<>(glassIds));
        }
    }
    
    /**
     * 清空已处理的玻璃ID列表
     */
    private void clearProcessedGlassIds(TaskExecutionContext context) {
        if (context != null) {
            context.getSharedData().put("processedGlassIds", new ArrayList<>());
        }
    }
    
    /**
     * 获取处理开始时间
     */
    private Long getProcessStartTime(TaskExecutionContext context) {
        if (context == null) {
            return null;
        }
        Object time = context.getSharedData().get("processStartTime");
        if (time instanceof Number) {
            return ((Number) time).longValue();
        }
        return null;
    }
    
    /**
     * 设置处理开始时间
     */
    private void setProcessStartTime(TaskExecutionContext context, long time) {
        if (context != null) {
            context.getSharedData().put("processStartTime", time);
        }
    }
    
    /**
     * 清空处理开始时间
     */
    private void clearProcessStartTime(TaskExecutionContext context) {
        if (context != null) {
            context.getSharedData().remove("processStartTime");
        }
    }
    
    /**
     * 设置卧转立扫码暂停标志
     */
    private void setScannerPause(TaskExecutionContext context, boolean pause) {
        if (context != null) {
            context.getSharedData().put("scannerPause", pause);
        }
    }

    private boolean isTaskCancelled(TaskExecutionContext context) {
        if (context == null) {
            return false;
        }
        Object cancelled = context.getSharedData().get("taskCancelled");
        return cancelled instanceof Boolean && (Boolean) cancelled;
    }
    
    /**
     * 检查是否需要暂停卧转立扫码
     */
    private boolean shouldPauseScanner(TaskExecutionContext context) {
        if (context == null) {
            return false;
        }
        Object pauseFlag = context.getSharedData().get("scannerPause");
        return pauseFlag instanceof Boolean && (Boolean) pauseFlag;
    }
    
    /**
     * 获取已扫描的玻璃ID列表
     */
    @SuppressWarnings("unchecked")
    private List<String> getScannedGlassIds(TaskExecutionContext context) {
        if (context == null) {
            return Collections.emptyList();
        }
        Object glassIds = context.getSharedData().get("scannedGlassIds");
        if (glassIds instanceof List) {
            return new ArrayList<>((List<String>) glassIds);
        }
        return Collections.emptyList();
    }
    
    /**
     * 清空已扫描的玻璃ID列表
     */
    private void clearScannedGlassIds(TaskExecutionContext context) {
        if (context != null) {
            context.getSharedData().put("scannedGlassIds", new ArrayList<>());
        }
    }

    /**
     * 获取卧转立主体已输出、准备上大车的玻璃ID列表
     */
    @SuppressWarnings("unchecked")
    private List<String> getTransferReadyGlassIds(TaskExecutionContext context) {
        if (context == null) {
            return Collections.emptyList();
        }
        Object glassIds = context.getSharedData().get("transferReadyGlassIds");
        if (glassIds instanceof List) {
            return new ArrayList<>((List<String>) glassIds);
        }
        return Collections.emptyList();
    }

    /**
     * 清空卧转立主体已输出的玻璃ID列表
     */
    private void clearTransferReadyGlassIds(TaskExecutionContext context) {
        if (context != null) {
            context.getSharedData().put("transferReadyGlassIds", new ArrayList<>());
        }
    }
    
    /**
     * 注册定时器任务
     */
    private void registerScheduledTask(String taskId, ScheduledFuture<?> future) {
        taskScheduledTasks.computeIfAbsent(taskId, k -> new ArrayList<>()).add(future);
    }
    
    /**
     * 停止所有定时器任务
     */
    private void stopScheduledTasks(String taskId) {
        List<ScheduledFuture<?>> futures = taskScheduledTasks.remove(taskId);
        if (futures != null) {
            for (ScheduledFuture<?> future : futures) {
                if (future != null && !future.isCancelled()) {
                    future.cancel(false);
                }
            }
            log.debug("已停止任务的所有定时器: taskId={}, count={}", taskId, futures.size());
        }
        runningTaskContexts.remove(taskId);
    }
    
    /**
     * 等待定时器任务完成（带超时）
     */
    private void waitForScheduledTasks(String taskId, TaskExecutionContext context) {
        // 获取任务超时时间（默认30分钟）
        TaskParameters params = context.getParameters();
        long timeoutMinutes = params != null && params.getTimeoutMinutes() != null
                ? params.getTimeoutMinutes() : 30;
        long timeoutMs = timeoutMinutes * 60 * 1000;
        long deadline = System.currentTimeMillis() + timeoutMs;
        
        log.debug("等待定时器任务完成: taskId={}, timeout={}分钟", taskId, timeoutMinutes);
        
        while (System.currentTimeMillis() < deadline) {
            List<ScheduledFuture<?>> futures = taskScheduledTasks.get(taskId);
            if (futures == null || futures.isEmpty()) {
                break;
            }
            
            // 检查是否所有任务都已完成
            boolean allDone = true;
            for (ScheduledFuture<?> future : futures) {
                if (future != null && !future.isDone()) {
                    allDone = false;
                    break;
                }
            }
            
            if (allDone) {
                break;
            }
            
            try {
                Thread.sleep(1000);
            } catch (InterruptedException e) {
                Thread.currentThread().interrupt();
                break;
            }
        }
        
        log.debug("定时器任务等待完成: taskId={}", taskId);
    }
    
    /**
     * 当某个步骤可能完成时，检查任务是否所有步骤都已完成，如果是则自动将任务标记为已完成
     */
    private void checkAndCompleteTaskIfDone(String taskId) {
        if (taskId == null) {
            return;
        }
        try {
            MultiDeviceTask task = multiDeviceTaskMapper.selectOne(
                    Wrappers.<MultiDeviceTask>lambdaQuery()
                            .eq(MultiDeviceTask::getTaskId, taskId)
            );
            if (task == null) {
                return;
            }
            // 仅在任务仍为RUNNING时才尝试自动收尾
            if (!MultiDeviceTask.Status.RUNNING.name().equals(task.getStatus())) {
                return;
            }
            
            int totalSteps = task.getTotalSteps() != null ? task.getTotalSteps() : 0;
            if (totalSteps <= 0) {
                return;
            }
            
            int completedSteps = countCompletedSteps(taskId);
            if (completedSteps < totalSteps) {
                return;
            }
            
            // 所有步骤都已完成，收尾任务
            task.setStatus(MultiDeviceTask.Status.COMPLETED.name());
            task.setEndTime(new Date());
            multiDeviceTaskMapper.updateById(task);
            
            // 停止所有定时器
            stopScheduledTasks(taskId);
            
            // 通知任务完成
            notificationService.notifyTaskStatus(task);
            
            log.info("所有步骤已完成，自动将任务标记为已完成: taskId={}, totalSteps={}", taskId, totalSteps);
        } catch (Exception e) {
            log.warn("检查并自动完成任务失败: taskId={}", taskId, e);
        }
    }
    
    /**
     * 更新步骤状态
     */
    private void updateStepStatus(TaskStepDetail step, DevicePlcVO.OperationResult result) {
        if (step == null || result == null) {
            return;
        }
        boolean success = Boolean.TRUE.equals(result.getSuccess());
        step.setStatus(success 
                ? TaskStepDetail.Status.COMPLETED.name() 
                : TaskStepDetail.Status.FAILED.name());
        // 设置消息：成功时如果有消息也保存，失败时保存错误消息
        String message = result.getMessage();
        if (success) {
            // 成功时，如果有消息则保存（用于提示信息），否则清空
            step.setSuccessMessage(StringUtils.hasText(message) ? message : null);
            // 如果状态变为完成，设置结束时间
            if (TaskStepDetail.Status.COMPLETED.name().equals(step.getStatus()) && step.getEndTime() == null) {
                step.setEndTime(new Date());
            }
        } else {
            // 失败时保存错误消息
            step.setErrorMessage(message);
            // 如果状态变为失败，设置结束时间
            if (TaskStepDetail.Status.FAILED.name().equals(step.getStatus()) && step.getEndTime() == null) {
                step.setEndTime(new Date());
            }
        }
        step.setOutputData(toJson(result));
        taskStepDetailMapper.updateById(step);
    }
    
    /**
     * 确保步骤进入RUNNING状态（仅在第一次真正执行前调用）
     */
    private void ensureStepRunning(TaskStepDetail step, String taskId) {
        if (step == null) {
            return;
        }
        if (!TaskStepDetail.Status.RUNNING.name().equals(step.getStatus())) {
            step.setStatus(TaskStepDetail.Status.RUNNING.name());
            if (step.getStartTime() == null) {
                step.setStartTime(new Date());
            }
            taskStepDetailMapper.updateById(step);
            notificationService.notifyStepUpdate(taskId, step);
        }
    }
    
    /**
     * 更新扫码设备步骤状态（显示进度，保持RUNNING状态直到所有玻璃处理完成）
     */
    private void updateStepStatusForScanner(TaskStepDetail step, DevicePlcVO.OperationResult result,
                                            int currentIndex, int totalCount,
                                            int successCount, int failCount) {
        if (step == null || result == null) {
            return;
        }
        
        boolean success = Boolean.TRUE.equals(result.getSuccess());
        
        // 保持RUNNING状态，直到所有玻璃处理完成（在定时器完成时再设置为COMPLETED）
        step.setStatus(TaskStepDetail.Status.RUNNING.name());
        
        // 更新时间和耗时，前端可以实时看到执行耗时
        Date now = new Date();
        if (step.getStartTime() == null) {
            step.setStartTime(now);
        }
        if (step.getStartTime() != null) {
            step.setDurationMs(now.getTime() - step.getStartTime().getTime());
        }
        
        // 更新进度信息
        String progressMessage = String.format("正在处理 %d/%d (成功:%d, 失败:%d)", 
                currentIndex, totalCount, successCount, failCount);
        
        if (success) {
            // 成功时显示进度和成功消息
            String resultMessage = result.getMessage();
            if (StringUtils.hasText(resultMessage)) {
                step.setSuccessMessage(progressMessage + " - " + resultMessage);
            } else {
                step.setSuccessMessage(progressMessage);
            }
            step.setErrorMessage(null);
        } else {
            // 失败时显示进度和错误消息
            String errorMessage = result.getMessage();
            step.setErrorMessage(progressMessage + " - " + (StringUtils.hasText(errorMessage) ? errorMessage : "处理失败"));
            step.setSuccessMessage(null);
        }
        
        step.setOutputData(toJson(result));
        taskStepDetailMapper.updateById(step);
    }
    
    /**
     * 更新大车设备步骤状态（保持RUNNING，直到手动停止或任务取消；失败时标记为FAILED）
     */
    private void updateStepStatusForVehicle(TaskStepDetail step, DevicePlcVO.OperationResult result) {
        if (step == null || result == null) {
            return;
        }
        boolean success = Boolean.TRUE.equals(result.getSuccess());
        boolean completed = false;
        if (result.getData() != null && result.getData().get("completed") != null) {
            Object flag = result.getData().get("completed");
            if (flag instanceof Boolean) {
                completed = (Boolean) flag;
            } else {
                completed = "true".equalsIgnoreCase(String.valueOf(flag));
            }
        }
        Date now = new Date();

        // 初始化开始时间
        if (step.getStartTime() == null) {
            step.setStartTime(now);
        }

        boolean waiting = false;
        String waitingReason = null;
        if (result.getData() != null) {
            Object waitingFlag = result.getData().get("waiting");
            if (waitingFlag instanceof Boolean) {
                waiting = (Boolean) waitingFlag;
            } else if (waitingFlag != null) {
                waiting = "true".equalsIgnoreCase(String.valueOf(waitingFlag));
            }
            Object reason = result.getData().get("waitingReason");
            if (reason != null) {
                waitingReason = String.valueOf(reason);
            }
        }
        
        if (success && !completed) {
            // 成功但未完成：根据waiting状态决定显示为等待还是执行中
            if (waiting) {
                step.setStatus(TaskStepDetail.Status.PENDING.name());
            } else {
                step.setStatus(TaskStepDetail.Status.RUNNING.name());
            }
            String message = result.getMessage();
            if (!StringUtils.hasText(message) && waiting) {
                message = "大车设备等待中" + (StringUtils.hasText(waitingReason) ? "（" + waitingReason + "）" : "");
            }
            step.setSuccessMessage(StringUtils.hasText(message) ? message : (waiting ? "大车设备等待中" : "大车设备运行中"));
            step.setErrorMessage(null);
            if (step.getStartTime() != null) {
                step.setDurationMs(now.getTime() - step.getStartTime().getTime());
            }
        } else if (success && completed) {
            // 成功且MES已确认完成：标记为COMPLETED并记录结束时间
            step.setStatus(TaskStepDetail.Status.COMPLETED.name());
            String message = result.getMessage();
            step.setSuccessMessage(StringUtils.hasText(message) ? message : "大车设备任务已完成");
            step.setErrorMessage(null);
            if (step.getEndTime() == null) {
                step.setEndTime(now);
            }
            if (step.getStartTime() != null && step.getEndTime() != null) {
                step.setDurationMs(step.getEndTime().getTime() - step.getStartTime().getTime());
            }
            // 尝试自动收尾整个任务
            checkAndCompleteTaskIfDone(step.getTaskId());
        } else {
            // 失败：标记为FAILED并记录结束时间
            step.setStatus(TaskStepDetail.Status.FAILED.name());
            String message = result.getMessage();
            step.setErrorMessage(message);
            if (step.getEndTime() == null) {
                step.setEndTime(now);
            }
            if (step.getStartTime() != null && step.getEndTime() != null) {
                step.setDurationMs(step.getEndTime().getTime() - step.getStartTime().getTime());
            }
        }

        step.setOutputData(toJson(result));
        taskStepDetailMapper.updateById(step);
    }

    /**
     * 轮询大车设备的MES任务和确认状态
     * 无论步骤当前是否为RUNNING/PENDING，都可以调用，用于避免错过MES端后写入的任务
     */
    private void pollMesForVehicle(MultiDeviceTask task,
                                   TaskStepDetail step,
                                   DeviceConfig device,
                                   TaskExecutionContext context) {
        try {
            DeviceLogicHandler handler = handlerFactory.getHandler(device.getDeviceType());
            if (handler == null) {
                return;
            }

            Map<String, Object> logicParams = parseLogicParams(device);

            // 先检查MES任务（如果mesSend=1，会创建任务并开始执行）
            DevicePlcVO.OperationResult mesTaskResult = null;
            try {
                mesTaskResult = handler.execute(device, "checkMesTask", Collections.emptyMap());
                if (mesTaskResult != null && Boolean.TRUE.equals(mesTaskResult.getSuccess())) {
                    log.info("大车设备已检查MES任务并开始执行: taskId={}, deviceId={}, message={}",
                            task.getTaskId(), device.getId(), mesTaskResult.getMessage());
                }
            } catch (Exception e) {
                log.warn("大车设备检查MES任务异常: taskId={}, deviceId={}, error={}",
                        task.getTaskId(), device.getId(), e.getMessage());
            }

            // 然后检查MES确认状态
            DevicePlcVO.OperationResult mesResult = null;
            try {
                mesResult = handler.execute(device, "checkMesConfirm", Collections.emptyMap());
            } catch (Exception e) {
                log.warn("大车设备检查MES确认状态异常: taskId={}, deviceId={}, error={}",
                        task.getTaskId(), device.getId(), e.getMessage());
            }

            // 更新步骤状态
            if (mesResult != null) {
                updateStepStatusForVehicle(step, mesResult);
                boolean opSuccess = Boolean.TRUE.equals(mesResult.getSuccess());
                updateTaskProgress(task, step.getStepOrder(), opSuccess);
                if (!opSuccess) {
                    deviceCoordinationService.syncDeviceStatus(device,
                            DeviceCoordinationService.DeviceStatus.FAILED, context);
                }
            }
        } catch (Exception e) {
            log.warn("轮询大车设备MES任务/确认状态异常: taskId={}, deviceId={}, error={}",
                    task.getTaskId(), device.getId(), e.getMessage());
        }
    }
    
    /**
     * 更新卧转立设备步骤状态（区分等待中和真正完成）
     */
    private void updateStepStatusForTransfer(TaskStepDetail step, DevicePlcVO.OperationResult result, 
                                            DeviceConfig device, TaskExecutionContext context) {
        if (step == null || result == null) {
            return;
        }
        boolean success = Boolean.TRUE.equals(result.getSuccess());
        String message = result.getMessage();
        
        // 判断是否真正完成：
        // 1. 写入PLC成功且缓冲已清空（表示所有玻璃已处理完，无新玻璃）
        // 注意：缓冲队列为空且无待处理玻璃，在任务刚开始时也可能出现，不应该立即标记为完成
        // 只有当任务已经运行一段时间，且确实没有玻璃需要处理时，才标记为完成
        boolean isRealCompleted = success && message != null && (
                (message.contains("批次已写入PLC") && message.contains("缓冲已清空，任务完成"))
        );
        
        if (isRealCompleted) {
            // 真正完成：设置为完成状态，并设置结束时间
            // 注意：一旦标记为完成，状态不应该再被改变
            if (!TaskStepDetail.Status.COMPLETED.name().equals(step.getStatus())) {
                step.setStatus(TaskStepDetail.Status.COMPLETED.name());
                step.setSuccessMessage(message);
                if (step.getEndTime() == null) {
                    step.setEndTime(new Date());
                }
                // 计算耗时
                if (step.getStartTime() != null && step.getEndTime() != null) {
                    step.setDurationMs(step.getEndTime().getTime() - step.getStartTime().getTime());
                }
                log.info("卧转立设备步骤已完成: stepId={}, durationMs={}, message={}", 
                        step.getId(), step.getDurationMs(), message);
                // 卧转立主体完成后尝试自动收尾整个任务
                checkAndCompleteTaskIfDone(step.getTaskId());
                // 更新设备状态为已完成
                if (device != null) {
                    deviceCoordinationService.syncDeviceStatus(device, 
                            DeviceCoordinationService.DeviceStatus.COMPLETED, context);
                }
            }
        } else if (success && message != null && message.contains("批次已写入PLC")) {
            // 写入PLC成功但缓冲还有玻璃（车满情况），继续运行
            if (!TaskStepDetail.Status.RUNNING.name().equals(step.getStatus())) {
                step.setStatus(TaskStepDetail.Status.RUNNING.name());
            }
            step.setSuccessMessage(message);
            // 确保开始时间已设置
            if (step.getStartTime() == null) {
                step.setStartTime(new Date());
            }
        } else if (success) {
            // 设备正在工作（等待缓冲、等待更多玻璃等），保持RUNNING状态
            // 因为定时器已经执行，说明设备已经开始工作了
            if (!TaskStepDetail.Status.RUNNING.name().equals(step.getStatus())) {
                step.setStatus(TaskStepDetail.Status.RUNNING.name());
            }
            step.setSuccessMessage(message);
            // 确保开始时间已设置（设备已经开始工作）
            if (step.getStartTime() == null) {
                step.setStartTime(new Date());
            }
        } else {
            // 失败：设置为失败状态，并设置结束时间
            step.setStatus(TaskStepDetail.Status.FAILED.name());
            step.setErrorMessage(message);
            if (step.getEndTime() == null) {
                step.setEndTime(new Date());
            }
            // 计算耗时
            if (step.getStartTime() != null && step.getEndTime() != null) {
                step.setDurationMs(step.getEndTime().getTime() - step.getStartTime().getTime());
            }
        }
        
        step.setOutputData(toJson(result));
        taskStepDetailMapper.updateById(step);
    }
    
    /**
     * 创建步骤摘要
     */
    private Map<String, Object> createStepSummary(String deviceName, boolean success, String message) {
        Map<String, Object> summary = new HashMap<>();
        summary.put("deviceName", deviceName);
        summary.put("success", success);
        summary.put("message", message);
        return summary;
    }
    
    /**
     * 解析设备逻辑参数
     */
    @SuppressWarnings("unchecked")
    private Map<String, Object> parseLogicParams(DeviceConfig device) {
        String extraParams = device.getExtraParams();
        if (!StringUtils.hasText(extraParams)) {
            return Collections.emptyMap();
        }
        try {
            Map<String, Object> extraParamsMap = objectMapper.readValue(extraParams, MAP_TYPE);
            Object deviceLogic = extraParamsMap.get("deviceLogic");
            if (deviceLogic instanceof Map) {
                return (Map<String, Object>) deviceLogic;
            }
            return Collections.emptyMap();
        } catch (Exception e) {
            log.warn("解析设备逻辑参数失败: deviceId={}", device.getId(), e);
            return Collections.emptyMap();
        }
    }

    /**
     * 并行执行多个设备操作
     */
    private Pair<Boolean, String> executeParallel(MultiDeviceTask task,
                                                   List<DeviceConfig> devices,
                                                   TaskExecutionContext context,
                                                   List<Map<String, Object>> stepSummaries,
                                                   Integer maxConcurrent) {
        int concurrency = maxConcurrent != null && maxConcurrent > 0 
            ? Math.min(maxConcurrent, devices.size()) 
            : devices.size();

        // 创建所有步骤记录
        List<TaskStepDetail> steps = new ArrayList<>();
        for (int i = 0; i < devices.size(); i++) {
            DeviceConfig device = devices.get(i);
            int order = i + 1;
            TaskStepDetail step = createStepRecord(task, device, order);
            steps.add(step);
        }

        // 使用信号量控制并发数
        Semaphore semaphore = new Semaphore(concurrency);
        List<CompletableFuture<StepResult>> futures = new ArrayList<>();

        for (int i = 0; i < devices.size(); i++) {
            final int index = i;
            final DeviceConfig device = devices.get(index);
            final TaskStepDetail step = steps.get(index);

            CompletableFuture<StepResult> future = CompletableFuture.supplyAsync(() -> {
                try {
                    semaphore.acquire();
                    try {
                        return executeStep(task, step, device, context);
                    } finally {
                        semaphore.release();
                    }
                } catch (InterruptedException e) {
                    Thread.currentThread().interrupt();
                    log.error("并行执行被中断, deviceId={}", device.getId(), e);
                    return StepResult.failure(device.getDeviceName(), "执行被中断");
                } catch (Exception e) {
                    log.error("并行执行异常, deviceId={}", device.getId(), e);
                    return StepResult.failure(device.getDeviceName(), e.getMessage());
                }
            }, executorService);

            final int finalIndex = index;
            future.whenComplete((result, throwable) -> {
                if (throwable != null) {
                    log.error("并行执行完成时异常, deviceId={}", device.getId(), throwable);
                    stepSummaries.set(finalIndex, StepResult.failure(device.getDeviceName(), 
                        throwable.getMessage()).toSummary());
                } else if (result != null) {
                    stepSummaries.set(finalIndex, result.toSummary());
                }
            });

            futures.add(future);
        }

        // 等待所有任务完成
        CompletableFuture<Void> allFutures = CompletableFuture.allOf(
            futures.toArray(new CompletableFuture[0])
        );

        try {
            allFutures.get(30, TimeUnit.MINUTES); // 最多等待30分钟
        } catch (TimeoutException e) {
            log.error("并行执行超时, taskId={}", task.getTaskId(), e);
            return Pair.of(false, "任务执行超时");
        } catch (Exception e) {
            log.error("等待并行执行完成时异常, taskId={}", task.getTaskId(), e);
            return Pair.of(false, "等待执行完成时发生异常: " + e.getMessage());
        }

        // 检查所有步骤的执行结果
        boolean allSuccess = true;
        String firstFailureMessage = null;
        for (int i = 0; i < futures.size(); i++) {
            try {
                StepResult result = futures.get(i).get();
                if (result != null && !result.isSuccess()) {
                    allSuccess = false;
                    if (firstFailureMessage == null) {
                        firstFailureMessage = result.getMessage();
                    }
                }
            } catch (Exception e) {
                log.error("获取步骤执行结果异常, stepIndex={}", i, e);
                allSuccess = false;
                if (firstFailureMessage == null) {
                    firstFailureMessage = "获取执行结果异常: " + e.getMessage();
                }
            }
        }

        return Pair.of(allSuccess, firstFailureMessage);
    }

    /**
     * 确定执行模式
     */
    private String determineExecutionMode(DeviceGroupConfig groupConfig) {
        if (groupConfig == null) {
            return EXECUTION_MODE_SERIAL; // 默认串行
        }

        // 从extraConfig中读取executionMode
        String extraConfig = groupConfig.getExtraConfig();
        if (StringUtils.hasText(extraConfig)) {
            try {
                Map<String, Object> config = objectMapper.readValue(extraConfig, MAP_TYPE);
                Object mode = config.get("executionMode");
                if (mode != null) {
                    String modeStr = String.valueOf(mode).toUpperCase();
                    if (EXECUTION_MODE_PARALLEL.equals(modeStr) || EXECUTION_MODE_SERIAL.equals(modeStr)) {
                        return modeStr;
                    }
                }
            } catch (Exception e) {
                log.warn("解析设备组执行模式失败, groupId={}", groupConfig.getId(), e);
            }
        }

        // 如果有maxConcurrentDevices且大于1，默认使用并行模式
        if (groupConfig.getMaxConcurrentDevices() != null && groupConfig.getMaxConcurrentDevices() > 1) {
            return EXECUTION_MODE_PARALLEL;
        }

        return EXECUTION_MODE_SERIAL; // 默认串行
    }

    /**
     * 获取最大并发设备数
     */
    private Integer getMaxConcurrentDevices(DeviceGroupConfig groupConfig) {
        if (groupConfig == null) {
            return 1;
        }

        // 从extraConfig中读取maxConcurrent
        String extraConfig = groupConfig.getExtraConfig();
        if (StringUtils.hasText(extraConfig)) {
            try {
                Map<String, Object> config = objectMapper.readValue(extraConfig, MAP_TYPE);
                Object maxConcurrent = config.get("maxConcurrent");
                if (maxConcurrent instanceof Number) {
                    return ((Number) maxConcurrent).intValue();
                }
            } catch (Exception e) {
                log.warn("解析设备组最大并发数失败, groupId={}", groupConfig.getId(), e);
            }
        }

        // 使用实体字段
        return groupConfig.getMaxConcurrentDevices() != null && groupConfig.getMaxConcurrentDevices() > 0
            ? groupConfig.getMaxConcurrentDevices()
            : 1;
    }

    /**
     * 简单的Pair类用于返回两个值
     */
    private static class Pair<T, U> {
        private final T first;
        private final U second;

        private Pair(T first, U second) {
            this.first = first;
            this.second = second;
        }

        public static <T, U> Pair<T, U> of(T first, U second) {
            return new Pair<>(first, second);
        }

        public T getFirst() {
            return first;
        }

        public U getSecond() {
            return second;
        }
    }

    /**
     * 分批执行大车设备玻璃上料（当玻璃ID数量超过6个时）
     */
    private StepResult executeLoadVehicleWithBatches(MultiDeviceTask task,
                                                      DeviceConfig device,
                                                      int order,
                                                      TaskExecutionContext context,
                                                      List<Map<String, Object>> stepSummaries) {
        List<String> allGlassIds = context.getParameters().getGlassIds();
        int batchSize = 6; // 每批最多6个玻璃ID
        
        // 分批处理
        int totalBatches = (allGlassIds.size() + batchSize - 1) / batchSize;
        log.debug("大车设备分批上料: deviceId={}, totalGlassIds={}, batchSize={}, totalBatches={}",
                device.getId(), allGlassIds.size(), batchSize, totalBatches);
        
        for (int batchIndex = 0; batchIndex < totalBatches; batchIndex++) {
            int startIndex = batchIndex * batchSize;
            int endIndex = Math.min(startIndex + batchSize, allGlassIds.size());
            List<String> batchGlassIds = allGlassIds.subList(startIndex, endIndex);
            
            // 创建临时参数，只包含当前批次的玻璃ID
            TaskParameters batchParams = new TaskParameters();
            batchParams.setGlassIds(new ArrayList<>(batchGlassIds));
            batchParams.setPositionCode(context.getParameters().getPositionCode());
            batchParams.setPositionValue(context.getParameters().getPositionValue());
            
            // 创建临时上下文
            TaskExecutionContext batchContext = new TaskExecutionContext(batchParams);
            
            // 创建步骤记录
            TaskStepDetail step = createStepRecord(task, device, order);
            step.setStepName(step.getStepName() + String.format(" (批次 %d/%d)", batchIndex + 1, totalBatches));
            
            // 执行当前批次
            StepResult stepResult = executeStep(task, step, device, batchContext);
            stepSummaries.add(stepResult.toSummary());
            
            if (!stepResult.isSuccess()) {
                log.error("大车设备分批上料失败: deviceId={}, batchIndex={}/{}, error={}",
                        device.getId(), batchIndex + 1, totalBatches, stepResult.getMessage());
                return stepResult;
            }
            
            log.debug("大车设备分批上料成功: deviceId={}, batchIndex={}/{}, glassIds={}",
                    device.getId(), batchIndex + 1, totalBatches, batchGlassIds);
        }
        
        // 更新上下文中的已加载玻璃ID
        context.setLoadedGlassIds(new ArrayList<>(allGlassIds));
        
        return StepResult.success(device.getDeviceName(), "分批上料完成，共" + totalBatches + "批");
    }

    private TaskStepDetail createStepRecord(MultiDeviceTask task, DeviceConfig device, int order) {
        TaskStepDetail step = new TaskStepDetail();
        step.setTaskId(task.getTaskId());
        step.setStepOrder(order);
        step.setDeviceId(String.valueOf(device.getId()));
        step.setStepName(device.getDeviceName());
        step.setStatus(TaskStepDetail.Status.PENDING.name());
        step.setRetryCount(0);
        taskStepDetailMapper.insert(step);
        return step;
    }

    private StepResult executeStep(MultiDeviceTask task,
                                   TaskStepDetail step,
                                   DeviceConfig device,
                                   TaskExecutionContext context) {
        DeviceCoordinationService.DependencyCheckResult dependencyResult =
                deviceCoordinationService.checkDependencies(device, context);
        if (!dependencyResult.isSatisfied()) {
            log.warn("设备依赖未满足: deviceId={}, message={}", device.getId(), dependencyResult.getMessage());
            step.setStatus(TaskStepDetail.Status.FAILED.name());
            step.setErrorMessage(dependencyResult.getMessage());
            step.setStartTime(new Date());
            step.setEndTime(new Date());
            taskStepDetailMapper.updateById(step);
            updateTaskProgress(task, step.getStepOrder(), false);
            return StepResult.failure(device.getDeviceName(), dependencyResult.getMessage());
        }
        return executeStepWithRetry(task, step, device, context, getRetryPolicy(device));
    }

    /**
     * 带重试的步骤执行
     */
    private StepResult executeStepWithRetry(MultiDeviceTask task,
                                            TaskStepDetail step,
                                            DeviceConfig device,
                                            TaskExecutionContext context,
                                            RetryPolicy retryPolicy) {
        Date startTime = new Date();
        step.setStartTime(startTime);
        step.setStatus(TaskStepDetail.Status.RUNNING.name());
        step.setRetryCount(0);

        DeviceInteraction deviceInteraction = interactionRegistry.getInteraction(device.getDeviceType());
        if (deviceInteraction != null) {
            return executeInteractionStepWithRetry(task, step, device, context, deviceInteraction, retryPolicy);
        }

        Map<String, Object> params = buildOperationParams(device, context);
        // 将context引用放入params，供设备处理器使用（用于设备协调）
        params.put("_taskContext", context);
        log.debug("executeStepWithRetry构建参数: deviceId={}, deviceType={}, operation={}, paramsKeys={}, params={}", 
                device.getId(), device.getDeviceType(), determineOperation(device, params), params.keySet(), params);
        step.setInputData(toJson(params));
        taskStepDetailMapper.updateById(step);

        String operation = determineOperation(device, params);
        DeviceLogicHandler handler = handlerFactory.getHandler(device.getDeviceType());
        
        int retryAttempt = 0;
        Exception lastException = null;
        
        while (retryAttempt <= retryPolicy.getMaxRetryCount()) {
            try {
                if (retryAttempt > 0) {
                    // 重试前等待
                    long waitTime = retryPolicy.calculateRetryInterval(retryAttempt);
                    log.debug("步骤执行重试: deviceId={}, operation={}, retryAttempt={}/{}, waitTime={}ms", 
                        device.getId(), operation, retryAttempt, retryPolicy.getMaxRetryCount(), waitTime);
                    Thread.sleep(waitTime);
                    
                    // 更新步骤状态
                    step.setRetryCount(retryAttempt);
                    step.setStatus(TaskStepDetail.Status.RUNNING.name());
                    step.setStartTime(new Date());
                    taskStepDetailMapper.updateById(step);
                }

                DevicePlcVO.OperationResult result;
                if (handler == null) {
                    result = deviceInteractionService.executeOperation(device.getId(), operation, params);
                } else {
                    result = handler.execute(device, operation, params);
                }

                boolean opSuccess = Boolean.TRUE.equals(result.getSuccess());
                updateStepAfterOperation(step, result, opSuccess);
                updateTaskProgress(task, step.getStepOrder(), opSuccess);
                
                // 通知步骤更新
                notificationService.notifyStepUpdate(task.getTaskId(), step);

                if (opSuccess) {
                    updateContextAfterSuccess(device, context, params, result);
                    
                    // 同步设备状态
                    deviceCoordinationService.syncDeviceStatus(device, 
                        DeviceCoordinationService.DeviceStatus.COMPLETED, context);
                    
                    return StepResult.success(device.getDeviceName(), result.getMessage());
                } else {
                    // 业务失败，判断是否可重试
                    if (retryAttempt < retryPolicy.getMaxRetryCount() && isRetryableFailure(result)) {
                        retryAttempt++;
                        lastException = new RuntimeException(result.getMessage());
                        log.warn("步骤执行失败，准备重试: deviceId={}, operation={}, retryAttempt={}, message={}", 
                            device.getId(), operation, retryAttempt, result.getMessage());
                        continue;
                    }
                    
                    // 同步失败状态
                    deviceCoordinationService.syncDeviceStatus(device, 
                        DeviceCoordinationService.DeviceStatus.FAILED, context);
                    
                    return StepResult.failure(device.getDeviceName(), result.getMessage());
                }
            } catch (InterruptedException e) {
                Thread.currentThread().interrupt();
                log.error("步骤执行被中断, deviceId={}, operation={}", device.getId(), operation, e);
                step.setStatus(TaskStepDetail.Status.FAILED.name());
                step.setErrorMessage("执行被中断: " + e.getMessage());
                step.setEndTime(new Date());
                step.setDurationMs(step.getEndTime().getTime() - step.getStartTime().getTime());
                step.setRetryCount(retryAttempt);
                taskStepDetailMapper.updateById(step);
                updateTaskProgress(task, step.getStepOrder(), false);
                return StepResult.failure(device.getDeviceName(), "执行被中断");
            } catch (Exception e) {
                lastException = e;
                log.error("设备操作异常, deviceId={}, operation={}, retryAttempt={}", 
                    device.getId(), operation, retryAttempt, e);
                
                // 判断是否可重试
                if (retryAttempt < retryPolicy.getMaxRetryCount() && retryPolicy.isRetryable(e)) {
                    retryAttempt++;
                    log.warn("步骤执行异常，准备重试: deviceId={}, operation={}, retryAttempt={}, exception={}", 
                        device.getId(), operation, retryAttempt, e.getClass().getSimpleName());
                    continue;
                }
                
                // 不可重试或达到最大重试次数
                step.setStatus(TaskStepDetail.Status.FAILED.name());
                step.setErrorMessage(e.getMessage());
                step.setEndTime(new Date());
                step.setDurationMs(step.getEndTime().getTime() - step.getStartTime().getTime());
                step.setRetryCount(retryAttempt);
                taskStepDetailMapper.updateById(step);
                updateTaskProgress(task, step.getStepOrder(), false);
                
                // 通知步骤更新
                notificationService.notifyStepUpdate(task.getTaskId(), step);
                
                // 同步失败状态
                deviceCoordinationService.syncDeviceStatus(device, 
                    DeviceCoordinationService.DeviceStatus.FAILED, context);
                
                String errorMsg = retryAttempt > 0 
                    ? String.format("执行失败（已重试%d次）: %s", retryAttempt, e.getMessage())
                    : e.getMessage();
                return StepResult.failure(device.getDeviceName(), errorMsg);
            }
        }
        
        // 达到最大重试次数
        step.setStatus(TaskStepDetail.Status.FAILED.name());
        step.setErrorMessage(lastException != null ? lastException.getMessage() : "执行失败");
        step.setEndTime(new Date());
        step.setDurationMs(step.getEndTime().getTime() - step.getStartTime().getTime());
        step.setRetryCount(retryAttempt);
        taskStepDetailMapper.updateById(step);
        updateTaskProgress(task, step.getStepOrder(), false);
        
        // 通知步骤更新
        notificationService.notifyStepUpdate(task.getTaskId(), step);
        
        deviceCoordinationService.syncDeviceStatus(device, 
            DeviceCoordinationService.DeviceStatus.FAILED, context);
        
        return StepResult.failure(device.getDeviceName(), 
            String.format("执行失败（已重试%d次）", retryAttempt));
    }

    /**
     * 执行一次简单的设备操作步骤（不走交互引擎），用于触发请求等场景
     */
    private StepResult executeDirectOperationStep(MultiDeviceTask task,
                                                  TaskStepDetail step,
                                                  DeviceConfig device,
                                                  TaskExecutionContext context,
                                                  String operation,
                                                  Map<String, Object> params) {
        Date startTime = new Date();
        step.setStartTime(startTime);
        step.setStatus(TaskStepDetail.Status.RUNNING.name());
        step.setRetryCount(0);
        step.setInputData(toJson(params));
        taskStepDetailMapper.updateById(step);

        try {
            DeviceCoordinationService.DependencyCheckResult dependencyResult =
                    deviceCoordinationService.checkDependencies(device, context);
            if (!dependencyResult.isSatisfied()) {
                log.warn("直接操作依赖未满足: deviceId={}, message={}", device.getId(), dependencyResult.getMessage());
                step.setStatus(TaskStepDetail.Status.FAILED.name());
                step.setErrorMessage(dependencyResult.getMessage());
                step.setEndTime(new Date());
                step.setDurationMs(step.getEndTime().getTime() - step.getStartTime().getTime());
                taskStepDetailMapper.updateById(step);
                updateTaskProgress(task, step.getStepOrder(), false);
                return StepResult.failure(device.getDeviceName(), dependencyResult.getMessage());
            }

            DevicePlcVO.OperationResult result = deviceInteractionService.executeOperation(
                    device.getId(), operation, params);

            boolean opSuccess = Boolean.TRUE.equals(result.getSuccess());
            updateStepAfterOperation(step, result, opSuccess);
            updateTaskProgress(task, step.getStepOrder(), opSuccess);

            if (opSuccess) {
                updateContextAfterSuccess(device, context, params, result);
                // 简单同步设备状态为已完成
                deviceCoordinationService.syncDeviceStatus(device,
                        DeviceCoordinationService.DeviceStatus.COMPLETED, context);
                return StepResult.success(device.getDeviceName(), result.getMessage());
            } else {
                deviceCoordinationService.syncDeviceStatus(device,
                        DeviceCoordinationService.DeviceStatus.FAILED, context);
                return StepResult.failure(device.getDeviceName(), result.getMessage());
            }
        } catch (Exception e) {
            log.error("直接设备操作异常, deviceId={}, operation={}", device.getId(), operation, e);
            step.setStatus(TaskStepDetail.Status.FAILED.name());
            step.setErrorMessage(e.getMessage());
            step.setEndTime(new Date());
            step.setDurationMs(step.getEndTime().getTime() - step.getStartTime().getTime());
            taskStepDetailMapper.updateById(step);
            updateTaskProgress(task, step.getStepOrder(), false);

            deviceCoordinationService.syncDeviceStatus(device,
                    DeviceCoordinationService.DeviceStatus.FAILED, context);
            return StepResult.failure(device.getDeviceName(), e.getMessage());
        }
    }

    /**
     * 带重试的交互步骤执行
     */
    private StepResult executeInteractionStepWithRetry(MultiDeviceTask task,
                                                      TaskStepDetail step,
                                                      DeviceConfig device,
                                                      TaskExecutionContext context,
                                                      DeviceInteraction deviceInteraction,
                                                      RetryPolicy retryPolicy) {
        int retryAttempt = 0;
        Exception lastException = null;
        
        while (retryAttempt <= retryPolicy.getMaxRetryCount()) {
            try {
                if (retryAttempt > 0) {
                    long waitTime = retryPolicy.calculateRetryInterval(retryAttempt);
                    log.debug("交互步骤执行重试: deviceId={}, retryAttempt={}/{}, waitTime={}ms", 
                        device.getId(), retryAttempt, retryPolicy.getMaxRetryCount(), waitTime);
                    Thread.sleep(waitTime);
                    
                    step.setRetryCount(retryAttempt);
                    step.setStatus(TaskStepDetail.Status.RUNNING.name());
                    step.setStartTime(new Date());
                    taskStepDetailMapper.updateById(step);
                }

                InteractionContext interactionContext = new InteractionContext(device, context);
                step.setInputData(toJson(context.getParameters()));
                InteractionResult interactionResult = deviceInteraction.execute(interactionContext);
                boolean success = interactionResult != null && interactionResult.isSuccess();
                updateStepAfterInteraction(step, interactionResult);
                updateTaskProgress(task, step.getStepOrder(), success);

                if (success) {
                    deviceCoordinationService.syncDeviceStatus(device, 
                        DeviceCoordinationService.DeviceStatus.COMPLETED, context);
                    return StepResult.success(device.getDeviceName(), interactionResult.getMessage());
                } else {
                    if (retryAttempt < retryPolicy.getMaxRetryCount()) {
                        retryAttempt++;
                        continue;
                    }
                    deviceCoordinationService.syncDeviceStatus(device, 
                        DeviceCoordinationService.DeviceStatus.FAILED, context);
                    String message = interactionResult != null ? interactionResult.getMessage() : "交互执行失败";
                    return StepResult.failure(device.getDeviceName(), message);
                }
            } catch (InterruptedException e) {
                Thread.currentThread().interrupt();
                log.error("交互步骤执行被中断, deviceId={}", device.getId(), e);
                step.setStatus(TaskStepDetail.Status.FAILED.name());
                step.setErrorMessage("执行被中断: " + e.getMessage());
                step.setEndTime(new Date());
                step.setDurationMs(step.getEndTime().getTime() - step.getStartTime().getTime());
                step.setRetryCount(retryAttempt);
                taskStepDetailMapper.updateById(step);
                updateTaskProgress(task, step.getStepOrder(), false);
                return StepResult.failure(device.getDeviceName(), "执行被中断");
            } catch (Exception e) {
                lastException = e;
                log.error("交互执行异常, deviceId={}, retryAttempt={}", device.getId(), retryAttempt, e);
                
                if (retryAttempt < retryPolicy.getMaxRetryCount() && retryPolicy.isRetryable(e)) {
                    retryAttempt++;
                    continue;
                }
                
                step.setStatus(TaskStepDetail.Status.FAILED.name());
                step.setErrorMessage(e.getMessage());
                step.setEndTime(new Date());
                step.setDurationMs(step.getEndTime().getTime() - step.getStartTime().getTime());
                step.setRetryCount(retryAttempt);
                taskStepDetailMapper.updateById(step);
                updateTaskProgress(task, step.getStepOrder(), false);
                
                // 通知步骤更新
                notificationService.notifyStepUpdate(task.getTaskId(), step);
                
                deviceCoordinationService.syncDeviceStatus(device, 
                    DeviceCoordinationService.DeviceStatus.FAILED, context);
                
                String errorMsg = retryAttempt > 0 
                    ? String.format("执行失败（已重试%d次）: %s", retryAttempt, e.getMessage())
                    : e.getMessage();
                return StepResult.failure(device.getDeviceName(), errorMsg);
            }
        }
        
        step.setStatus(TaskStepDetail.Status.FAILED.name());
        step.setErrorMessage(lastException != null ? lastException.getMessage() : "交互执行失败");
        step.setEndTime(new Date());
        step.setDurationMs(step.getEndTime().getTime() - step.getStartTime().getTime());
        step.setRetryCount(retryAttempt);
        taskStepDetailMapper.updateById(step);
        updateTaskProgress(task, step.getStepOrder(), false);
        
        // 通知步骤更新
        notificationService.notifyStepUpdate(task.getTaskId(), step);
        
        deviceCoordinationService.syncDeviceStatus(device, 
            DeviceCoordinationService.DeviceStatus.FAILED, context);
        
        return StepResult.failure(device.getDeviceName(), 
            String.format("执行失败（已重试%d次）", retryAttempt));
    }

    /**
     * 获取重试策略
     */
    private RetryPolicy getRetryPolicy(DeviceConfig device) {
        // 可以从设备配置中读取重试策略
        // 暂时使用默认策略
        return RetryPolicy.defaultPolicy();
    }

    /**
     * 判断业务失败是否可重试
     */
    private boolean isRetryableFailure(DevicePlcVO.OperationResult result) {
        if (result == null || result.getMessage() == null) {
            return false;
        }
        String message = result.getMessage().toLowerCase();
        // 网络错误、超时错误可重试
        return message.contains("timeout") || 
               message.contains("connection") ||
               message.contains("网络") ||
               message.contains("超时");
    }


    private void updateStepAfterOperation(TaskStepDetail step,
                                          DevicePlcVO.OperationResult result,
                                          boolean success) {
        step.setEndTime(new Date());
        if (step.getStartTime() != null) {
            step.setDurationMs(step.getEndTime().getTime() - step.getStartTime().getTime());
        }
        step.setStatus(success ? TaskStepDetail.Status.COMPLETED.name() : TaskStepDetail.Status.FAILED.name());
        // 设置消息：成功时如果有消息也保存，失败时保存错误消息
        String message = result != null ? result.getMessage() : null;
        if (success) {
            // 成功时，如果有消息则保存（用于提示信息），否则清空
            step.setErrorMessage(StringUtils.hasText(message) ? message : null);
        } else {
            // 失败时保存错误消息
            step.setErrorMessage(message);
        }
        step.setOutputData(toJson(result));
        taskStepDetailMapper.updateById(step);
    }

    private void updateStepAfterInteraction(TaskStepDetail step,
                                            InteractionResult result) {
        step.setEndTime(new Date());
        if (step.getStartTime() != null) {
            step.setDurationMs(step.getEndTime().getTime() - step.getStartTime().getTime());
        }
        boolean success = result != null && result.isSuccess();
        step.setStatus(success ? TaskStepDetail.Status.COMPLETED.name() : TaskStepDetail.Status.FAILED.name());
        step.setErrorMessage(success ? null : (result != null ? result.getMessage() : "交互执行失败"));
        step.setOutputData(result != null ? toJson(result.getData()) : "{}");
        taskStepDetailMapper.updateById(step);
    }

    private void updateTaskProgress(MultiDeviceTask task, int currentStep, boolean success) {
        if (!success) {
            task.setStatus(MultiDeviceTask.Status.FAILED.name());
        }
        
        // 计算已完成的步骤数（用于进度显示）
        int completedSteps = countCompletedSteps(task.getTaskId());
        int progressStep = success
                ? completedSteps
                : Math.max(completedSteps, currentStep); // 失败时至少显示当前步骤
        
        LambdaUpdateWrapper<MultiDeviceTask> update = Wrappers.<MultiDeviceTask>lambdaUpdate()
                .eq(MultiDeviceTask::getId, task.getId())
                .set(MultiDeviceTask::getCurrentStep, progressStep);
        if (!success) {
            update.set(MultiDeviceTask::getStatus, MultiDeviceTask.Status.FAILED.name());
        }
        multiDeviceTaskMapper.update(null, update);
        
        // 更新任务对象的进度，用于通知
        task.setCurrentStep(progressStep);
        
        // 通知任务状态更新（包含进度信息）
        notificationService.notifyTaskStatus(task);
    }
    
    /**
     * 统计已完成的步骤数
     */
    private int countCompletedSteps(String taskId) {
        if (taskId == null) {
            return 0;
        }
        try {
            return taskStepDetailMapper.selectCount(
                Wrappers.<TaskStepDetail>lambdaQuery()
                    .eq(TaskStepDetail::getTaskId, taskId)
                    .eq(TaskStepDetail::getStatus, TaskStepDetail.Status.COMPLETED.name())
            ).intValue();
        } catch (Exception e) {
            log.warn("统计已完成步骤数失败: taskId={}", taskId, e);
            return 0;
        }
    }

    private String determineOperation(DeviceConfig device, Map<String, Object> params) {
        if (params != null && params.containsKey("operation")) {
            Object op = params.get("operation");
            if (op != null) {
                return String.valueOf(op);
            }
        }
        return DEFAULT_OPERATIONS.getOrDefault(device.getDeviceType(), "feedGlass");
    }

    private Map<String, Object> buildOperationParams(DeviceConfig device, TaskExecutionContext context) {
        Map<String, Object> params = new HashMap<>();
        TaskParameters taskParams = context.getParameters();

        switch (device.getDeviceType()) {
            case DeviceConfig.DeviceType.LOAD_VEHICLE:
                params.put("glassIds", new ArrayList<>(taskParams.getGlassIds()));
                if (StringUtils.hasText(taskParams.getPositionCode())) {
                    params.put("positionCode", taskParams.getPositionCode());
                }
                if (taskParams.getPositionValue() != null) {
                    params.put("positionValue", taskParams.getPositionValue());
                }
                params.put("triggerRequest", true);
                break;
            case DeviceConfig.DeviceType.LARGE_GLASS:
                List<String> source = context.getSafeLoadedGlassIds();
                if (CollectionUtils.isEmpty(source)) {
                    source = taskParams.getGlassIds();
                }
                if (!CollectionUtils.isEmpty(source)) {
                    params.put("glassId", source.get(0));
                    params.put("glassIds", new ArrayList<>(source));
                }
                params.put("processType", taskParams.getProcessType() != null ? taskParams.getProcessType() : 1);
                params.put("triggerRequest", true);
                break;
            case DeviceConfig.DeviceType.WORKSTATION_SCANNER:
                // 卧转立扫码设备：从任务参数中获取玻璃ID列表，取第一个作为当前要测试的玻璃ID
                // 注意：扫码设备通常通过定时器执行，但如果通过executeStep执行，也需要传递glassId
                log.debug("buildOperationParams处理扫码设备: deviceId={}, taskParams.glassIds={}, isEmpty={}", 
                        device.getId(), taskParams.getGlassIds(), 
                        CollectionUtils.isEmpty(taskParams.getGlassIds()));
                if (!CollectionUtils.isEmpty(taskParams.getGlassIds())) {
                    params.put("glassId", taskParams.getGlassIds().get(0));
                    params.put("glassIds", new ArrayList<>(taskParams.getGlassIds()));
                    log.debug("buildOperationParams为扫码设备添加glassId: deviceId={}, glassId={}, glassIdsSize={}", 
                            device.getId(), taskParams.getGlassIds().get(0), taskParams.getGlassIds().size());
                } else {
                    log.warn("buildOperationParams扫码设备glassIds为空: deviceId={}, taskParams.glassIds={}, taskParams={}", 
                            device.getId(), taskParams.getGlassIds(), taskParams);
                }
                break;
            default:
                if (!CollectionUtils.isEmpty(taskParams.getExtra())) {
                    params.putAll(taskParams.getExtra());
                }
        }

        mergeOverrides(device, taskParams, params);
        return params;
    }

    private void mergeOverrides(DeviceConfig device, TaskParameters taskParameters, Map<String, Object> params) {
        if (CollectionUtils.isEmpty(taskParameters.getDeviceOverrides())) {
            return;
        }
        Map<String, Object> override = taskParameters.getDeviceOverrides().get(device.getDeviceType());
        if (override == null && StringUtils.hasText(device.getDeviceCode())) {
            override = taskParameters.getDeviceOverrides().get(device.getDeviceCode());
        }
        if (override != null) {
            params.putAll(override);
        }
    }

    private void updateContextAfterSuccess(DeviceConfig device,
                                           TaskExecutionContext context,
                                           Map<String, Object> params,
                                           DevicePlcVO.OperationResult result) {
        List<String> glassIds = extractGlassIds(params);

        switch (device.getDeviceType()) {
            case DeviceConfig.DeviceType.WORKSTATION_SCANNER:
                handleScannerSuccess(context, result);
                break;
            case DeviceConfig.DeviceType.LOAD_VEHICLE:
                context.setLoadedGlassIds(glassIds);
                // 数据传递：大车设备 -> 下一个设备
                if (!CollectionUtils.isEmpty(glassIds)) {
                    Map<String, Object> transferData = new HashMap<>();
                    transferData.put("glassIds", glassIds);
                    transferData.put("sourceDevice", device.getDeviceCode());
                    // 这里简化处理，实际应该找到下一个设备
                    // 在串行模式下，下一个设备会在循环中自动获取
                }
                break;
            case DeviceConfig.DeviceType.LARGE_GLASS:
                context.setProcessedGlassIds(glassIds);
                // 数据传递：大理片 -> 下一个设备
                if (!CollectionUtils.isEmpty(glassIds)) {
                    Map<String, Object> transferData = new HashMap<>();
                    transferData.put("glassIds", glassIds);
                    transferData.put("sourceDevice", device.getDeviceCode());
                }
                break;
            default:
                break;
        }
    }

    private void handleScannerSuccess(TaskExecutionContext context,
                                      DevicePlcVO.OperationResult result) {
        List<String> scannerGlassIds = extractGlassIdsFromResult(result);
        if (CollectionUtils.isEmpty(scannerGlassIds)) {
            String workLine = resolveWorkLineFromResult(result, context.getParameters());
            scannerGlassIds = glassInfoService.getRecentScannedGlassIds(
                    SCANNER_LOOKBACK_MINUTES, SCANNER_LOOKBACK_LIMIT, workLine);
        }
        if (!CollectionUtils.isEmpty(scannerGlassIds)) {
            context.getParameters().setGlassIds(new ArrayList<>(scannerGlassIds));
            context.setLoadedGlassIds(new ArrayList<>(scannerGlassIds));
            log.debug("卧转立扫码获取到玻璃ID: {}", scannerGlassIds);
        } else {
            log.warn("卧转立扫码未获取到玻璃ID，后续设备可能无法执行");
        }
    }

    private List<String> extractGlassIds(Map<String, Object> params) {
        if (params == null) {
            return Collections.emptyList();
        }
        Object glassIds = params.get("glassIds");
        if (glassIds instanceof List) {
            @SuppressWarnings("unchecked")
            List<String> cast = (List<String>) glassIds;
            return new ArrayList<>(cast);
        }
        Object glassId = params.get("glassId");
        if (glassId != null) {
            return Collections.singletonList(String.valueOf(glassId));
        }
        return Collections.emptyList();
    }

    @SuppressWarnings("unchecked")
    private List<String> extractGlassIdsFromResult(DevicePlcVO.OperationResult result) {
        if (result == null || result.getData() == null) {
            return Collections.emptyList();
        }
        Object data = result.getData().get("glassIds");
        if (data instanceof List) {
            List<Object> raw = (List<Object>) data;
            List<String> converted = new ArrayList<>();
            for (Object item : raw) {
                if (item != null) {
                    converted.add(String.valueOf(item));
                }
            }
            return converted;
        }
        if (data instanceof String && StringUtils.hasText((String) data)) {
            return Collections.singletonList((String) data);
        }
        return Collections.emptyList();
    }

    private String resolveWorkLineFromResult(DevicePlcVO.OperationResult result,
                                             TaskParameters parameters) {
        if (result != null && result.getData() != null) {
            Object workLine = result.getData().get("workLine");
            if (workLine != null && StringUtils.hasText(String.valueOf(workLine))) {
                return String.valueOf(workLine);
            }
        }
        if (parameters != null && !CollectionUtils.isEmpty(parameters.getExtra())) {
            Object extraWorkLine = parameters.getExtra().get("workLine");
            if (extraWorkLine != null) {
                return String.valueOf(extraWorkLine);
            }
        }
        return null;
    }

    private String toJson(Object value) {
        try {
            return objectMapper.writeValueAsString(value);
        } catch (JsonProcessingException e) {
            return "{}";
        }
    }

    private static class StepResult {
        private final boolean success;
        private final String message;
        private final String deviceName;

        private StepResult(boolean success, String message, String deviceName) {
            this.success = success;
            this.message = message;
            this.deviceName = deviceName;
        }

        public static StepResult success(String deviceName, String message) {
            return new StepResult(true, message, deviceName);
        }

        public static StepResult failure(String deviceName, String message) {
            return new StepResult(false, message, deviceName);
        }

        public boolean isSuccess() {
            return success;
        }

        public String getMessage() {
            return message;
        }

        public Map<String, Object> toSummary() {
            Map<String, Object> summary = new HashMap<>();
            summary.put("deviceName", deviceName);
            summary.put("success", success);
            summary.put("message", message);
            return summary;
        }
    }
}